Appendix 1. Global Inventory of AUVs and Gliders
Global Inventory of AUV and Glider Technology available for Routine Marine Surveying
Project Leaders: Dr Russell Wynn (NOC) and Dr Elizabeth Linley (NERC) Report Prepared by: Dr James Hunt (NOC)
Inventory correct as of September 2013
1 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Contents
United Kingdom Institutes ...... 16 Marine Autonomous and Robotic Systems (MARS) at National Oceanography Centre (NOC), Southampton ...... 17 Autonomous Underwater Vehicles (AUVs) at MARS ...... 18 Autosub3 ...... 18 Technical Specification for Autosub3 ...... 18 Autosub6000 ...... 19 Technical Specification ...... 19 Autosub LR ...... 20 Technical Specification ...... 20 Air-Launched AUVs ...... 21 Gliders at MARS ...... 22 Teledyne Webb Slocum Electric Gliders ...... 22 Technical Specification (from Teledyne) ...... 22 iRobot Seaglider Gliders ...... 24 Technical Specification (from iRobot) ...... 24 Gliders at British Antarctic Survey (PHOBOS) ...... 25 Teledyne Slocum Gliders ...... 25 iRobot Seaglider ...... 25 Autonomous Underwater Vehicles (AUVs) at SAMS ...... 26 REMUS 600 AUV ...... 26 Technical Specification (from Hydroid) ...... 26 Gliders at Scottish Marine Institute (NAGB) ...... 27 iRobot Seagliders ...... 27 University of East Anglia (UEA) ...... 28 Gliders at University of East Anglia (UEA)...... 28 Heriot-Watt University ...... 29 Autonomous Underwater Vehicles (AUVs) at Heriot-Watt University ...... 29 REMUS AUV ...... 29 Technical Specifications (from Heriot-Watt) ...... 29 PAIV (Prototype Autonomous Inspection Vehicle) AUV ...... 30
2 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification ...... 30 Nessie IV AUV ...... 31 Technical Specification ...... 31 Nessie 2012 AUV ...... 32 Technical Specification ...... 32 Cambridge University Autonomous Underwater Vehicle (CAUV) 33 United Kingdom Commercial Companies ...... 34 Kongsberg Maritime, Norway ...... 35 Autonomous Underwater Vehicles (AUVs) at Kongsberg ...... 35 HUGIN AUVs ...... 36 Technical Specification for HUGIN 1000 (from Kongsberg) ...... 36 Technical Specification for HUGIN 3000 (from Kongsberg) ...... 37 Technical Specification for HUGIN 4500 (from Kongsberg) ...... 37 REMUS AUVs ...... 38 Technical Specification for REMUS 100 (from Kongsberg Hydroid) ...... 38 Technical Specification for REMUS 100-S (from Kongsberg Hydroid) ...... 39 Technical Specification for REMUS 600 (from Kongsberg Hydroid) ...... 40 Technical Specification for REMUS 600 (from Kongsberg Hydroid) ...... 41 Technical Specification for REMUS 6000 (from Kongsberg Hydroid) ...... 42 NCS Survey ...... 44 Autonomous Underwater Vehicles (AUVs) at NCS ...... 44 ASV unmanned marine Systems ...... 45 Unmanned Surface Vehicles at ASV ...... 45 C-Cat 4 Multipurpose Work USV ...... 45 Technical Specification of C-Cat 4 at ASV ...... 45 C-Hunter Semi-submersible USV ...... 46 Technical Specification of C-Hunter at ASV ...... 46 C-Stat Station Keeping Buoys at USV ...... 46 Technical Specification of C-Stat at ASV ...... 46 BAE Systems ...... 47 AUVs from BAW Systems ...... 47 Talisman M Configuration...... 47 Technical Specification for Talisman M (BAE Systems) ...... 47 3 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Talisman L Configuration ...... 47 Technical Specification for Talisman L (BAE Systems) ...... 47 European Institutes ...... 48 Marum at University of Bremen ...... 49 Autonomous Underwater Vehicles (AUVs) at MUN ...... 49 Explorer-class MARUM-SEAL AUV ...... 49 Technical Specification of MARUM-SEAL (from MARUM) ...... 49 Reykjavik University’s Autonomous Underwater Vehicle (RUAUV) ...... 50 Ecole Nationale Superieure de Techniques Avancees Unit de Mecanique (ENSTA) ...... 51 Gliders at ENSTA ...... 51 Slocum 200 Gliders ...... 51 Slocum 1000 Gliders ...... 51 Spray Glider at ENSTA ...... 51 Observatoire Oceanoiogique de Villefranc and Laboratoire d’Oceanographie de Villefranc (OOV-LOV) ...... 52 Gliders at OOV-LOV ...... 52 Slocum 1000 Gliders ...... 52 Laboratoire d’Oceanographie et de Climatologie Experimentations et Approches Numeriques (LOCEAN) ...... 53 Gliders at LOCEAN ...... 53 Slocum 200 Glider ...... 53 Slocum 1000 Gliders ...... 53 Spray IRD Glider ...... 53 Institute of Marine Sciences at the Christian-Albrechts Universitat zu Kiel (IFM-GEOMAR) ...... 54 AUVs at IFM-GEOMAR ...... 54 Abyss AUV ...... 54 Technical Specification for AUV Abyss (from IFM-GEOMAR) ...... 54 Gliders at GEOMAR ...... 54 Slocum Gliders at Geomar ...... 54
4 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Helmholtz-Zentrum Geosthacht (HZG) Institute of Coastal Research ...... 55 Gliders at HZG ...... 55 Teledyne Slocum Gliders ...... 55 Instituto Mediterraneo de Estudios Avanzados (IMEDEA) ...... 56 Gliders at IMEDEA ...... 56 Teledyne Slocum Gliders ...... 56 PLOCAN Canary Island Oceanic Platform ...... 57 Gliders at PLOCAN ...... 57 Slocum G2 Electric ...... 57 Technical Specification for P201 ...... 57 Seaglider 1KA ...... 57 Technical Specification for P301 ...... 57 Spray Glider ...... 57 Technical Specification for P101 ...... 57 Sistema de Observacion y Prediccion Costero de las Islas Baleares (SOCIB) ...... 58 Gliders at SOCIB ...... 58 Institut Francais de Recherche pour l’Exploitation de la Mer (Ifremer) ...... 59 AUVs at Ifremer ...... 59 Aster AUV ...... 59 Technical Specification for Aster (from Infremer) ...... 59 Institute for Systems and Robotics, Lison (ISR) ...... 60 AUVs at ISR ...... 60 AUV Infante ...... 60 Technical Specification for AUV Infante (ISR)...... 60 Technical University of Berlin ...... 61 AUVs at TU Berlin ...... 61 DNS Pegel AUV ...... 61 Technical Specification for DNS Pegel (from TU Berlin) ...... 61 Division Technique de l’INSU (DT INSU) ...... 62 Gliders at DT INSU ...... 62
5 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Slocum 200 Gliders ...... 62 Seagliders ...... 62 European Commercial Companies ...... 63 Teledyne Gavia ...... 64 Autonomous Underwater Vehicles (AUVs) at Teledyne Gavia ...... 64 Gavia Offshore ...... 64 Technical Specification of Gavia Offshore (from Teledyne Gavia) ...... 64 Gavia Scientific ...... 65 Technical Specification of Gavia Scientific (from Teledyne Gavia) ...... 65 Gavia Defence ...... 66 Technical Specification of Gavia Defence (from Teledyne Gavia) ...... 66 ACSA Alcen ...... 67 Gliders at ACSA ...... 67 SeaExplorer...... 67 Technical Specification for SeaExplorer (from ACSA) ...... 67 Atlas Elektronik ...... 68 Autonomous Underwater Vehicles at Atlas Elektronik ...... 68 SeaCat AUV ...... 68 Technical Specification for the SeaCat (Atlas) ...... 68 SeaOtter MkII and MkII D AUVs ...... 68 Technical Specification for the SeaOtter (Atlas) ...... 68 Atlas MARIDAN ...... 69 AUVs at Atlas MARIDAN ...... 69 SeaWolf AUV ...... 69 Technical Specification for SeaWolf (from Atlas MARIDAN) ...... 69 ESA SA ...... 70 AUVs at ESA SA ...... 70 ALISTAR 9 ...... 70 Technical Specification for ALISTAR 9 ...... 70 ALISTAR 18 TWIN ...... Error! Bookmark not defined. Technical Specification for ALISTAR 18 ...... Error! Bookmark not defined. Technical Specification for ALISTAR 18 ...... 71 ALISTAR 18 TWIN ...... 71 6 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification for ALISTAR 18 TWIN ...... 71 ALISTAR 27 TWIN ...... 72 Technical Specification for ALISTAR 27 ...... 72 ALISTAR 3000 ...... 72 Technical Specification for ALISTAR 3000 ...... 72 EPAULARD...... 73 Technical Specification for EPAULARD ...... 73 Evo Logics ...... 74 Gliders at Evo ...... 74 Subsea Glider ...... 74 Technical Specification for Subsea Glider (from Evo) ...... 74 Graal Tech ...... 75 AUVs from Graal Tech ...... 75 Folaga AUV ...... 75 OceanScan MST ...... 76 AUVs at OceanScan ...... 76 Lightweight AUV (LAUV) ...... 76 Technical Specification for LAUV (from OceanScan) ...... 76 North American Institutes ...... 77 Woods Hole Oceanography Institute (WHOI), USA ...... 78 Autonomous Underwater Vehicles (AUVs) at WHOI ...... 78 Sentry ...... 78 Technical Specification for Sentry (from WHOI) ...... 78 REMUS 100...... 79 Technical Specification for REMUS 100 (from OSL at WHOI) ...... 79 REMUS 600...... 80 Technical Specification for REMUS 600 (from OSL at WHOI) ...... 80 REMUS 3000 ...... 80 Technical Specification for REMUS 3000 (from OSL at WHOI) ...... 80 REMUS 6000 ...... 81 Technical Specification for REMUS 6000 (from OSL at WHOI) ...... 81 SeaBED-class AUV at WHOI ...... 82 Technical Specification for SeaBED (from WHOI) ...... 82
7 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification for Jaguar (from WHOI) ...... 82 Technical Specification for Puma (from WHOI) ...... 82 Gliders at WHOI ...... 83 Spray Glider ...... 83 Technical Specification for Spray Glider (from WHOI) ...... 83 Slocum Gliders ...... 83 Technical Specification for Spray Glider (see Teledyne Webb ResearchI) 83 Monterey Bay Aquarium Research Institute (MBARI) ...... 84 Autonomous Underwater Vehicles (AUVs) at MBARI ...... 84 Dorado-class AUV ...... 84 Technical Specification of Dorado-class (from MBARI) ...... 84 Tethys AUV ...... 85 Technical Specification for R-One (MBARI) ...... 85 Benthic Rover ...... 85 Technical Specification for Benthic Rover (MBARI) ...... 85 National Institute for Undersea Science and Technology (NIUST) ...... 86 Autonomous Underwater Vehicles (AUVs) at NIUST ...... 86 Eagle Ray AUV ...... 86 Technical Specification of SeaBed-class (from WHOI) ...... 86 MolaMola AUV ...... 86 Memorial University of Newfoundland (MUN) ...... 87 Autonomous Underwater Vehicles (AUVs) at MUN ...... 87 Explorer-class C-SCOUT AUV ...... 87 Technical Specification of SeaBed-class (from WHOI) ...... 87 Cornell University Autonomous Underwater Vehicle (CUAUV) .... 88 PeRL at the University of Michigan ...... 89 Autonomous Underwater Vehicles (AUVs) at MUN ...... 89 Ocean-Server Iver2 AUVs at PeRL ...... 89 Technical Specification of Ocean-Server Iver2 (from PeRL) ...... 89 NURC at the University of North Carolina Wilmington (UNCW) ... 90 Autonomous Underwater Vehicles (AUVs) at UNCW ...... 90 AUV Eagle Ray ...... 90
8 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification of Ocean-Server Iver2 (from PeRL) ...... 90 Gliders at UNCW ...... 91 Pelagia Glider ...... 91 University of Alaska Fairbanks Autonomous Remote Technology Lab ...... 92 Gliders at UAF ...... 92 Technical Specification for ANT Littoral Glider (ANT LLC on an Exocetus Platform) ...... 92 Slocum Gliders at UAF ...... 92 Technical Specification for Slocum Gliders at UAF (from Teledyne Webb) 92 Florida Atlantic University ...... 93 AUVs at Florida Atlantic University ...... 93 Morpheus AUV ...... 93 Georgia Tech Research Institute ...... 94 AUVs at Georgia Tech ...... 94 Yellowfin AUV ...... 94 Technical Specification for Yellowfin AUV (from Georgia Tech) ...... 94 MIT AUV Laboratory ...... 95 AUVs at MIT ...... 95 Odyssey IV ...... 95 Technical Specification for Odyssey IV (from MIT) ...... 95 Caribou AUV ...... 96 Technical Specification for Caribou (custom from Bluefin Robots) ...... 96 MIT LAMSS Bluefin 21 ...... 96 Technical Specification for MIT LAMSS Bluefin 21 (from Bluefin Robotics) ...... 96 Waitt Institute of Discovery ...... 97 AUVs at Waitt Institute ...... 97 Mary Ann and Ginger REMUS 6000 AUVs ...... 97 Technical Specification for REMUS 6000 AUVs at Waitt (from Hydroid) ... 97 University of Connecticut (UCONN) ...... 98 Gliders at UCONN ...... 98 UCONN Slocum Gliders ...... 98
9 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification for Bill and Frank (UCONN) ...... 98 University of Hawaii School of Ocean and Earth Science and Technology (SOEST) ...... 99 Gliders at SOEST ...... 99 SOG iRobot Seaglider ...... 99 Technical Specification for SOG (from iRobot) ...... 99 Rutgers University Coastal Ocean Observation Lab (COOL) ..... 100 Gliders at Rutgers ...... 100 Slocum Gliders ...... 100 Technical Specification for Slocum Gliders (from Teledyne) ...... 100 University of South California Robotic Embedded Systems Laboratory ...... 101 Gliders at USC ...... 101 Slocum Gliders at USC ...... 101 Technical Specification for Slocum Gliders (from Teledyne) ...... 101 North American Commercial Companies ...... 102 iRobot ...... 103 Gliders at iRobot ...... 103 iRobot 1KA Seaglider ...... 103 Technical Specification for Seaglider (from iRobot) ...... 103 International Submarine Engineering (ISE), Canada ...... 104 Autonomous Underwater Vehicles (AUVs) at ISE ...... 104 Explorer AUVs ...... 104 Technical Specification for Explorer AUVs (from ISE) ...... 104 Arctic Explorer AUVs ...... 105 Technical Specification for Arctic Explorer AUVs (from ISE)...... 105 Theseus AUVs ...... 106 Technical Specification for Arctic Explorer AUVs (from ISE)...... 106 Semi-Submersible Autonomous Underwater Vehicles (AUVs) at ISE ...... 107 Dolphin Semi-Submersible AUV ...... 107 Technical Specification for Dolphin (from ISE) ...... 107 Dorado Semi-Submersible AUV ...... 108 Technical Specification for Dolphin (from ISE) ...... 108
10 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Teledyne Webb Research ...... 109 Slocum Gliders at Teledyne Webb Research ...... 109 Generation 1 Slocum Glider from Teledyne ...... 109 Technical Specification (from Teledyne Webb Research) ...... 109 Generation 2 (G2) Slocum Glider from Teledyne ...... 110 Technical Specification for G2 Slocum (from Teledyne) ...... 110 Thermal Slocum Glider from Teledyne ...... 111 Technical Specification for G2 Slocum (from Teledyne) ...... 111 Seaglider Fabrication Centre (SFC) at the University of Washington ...... 112 Autonomous Underwater Vehicles (AUVs) at SFC ...... 112 SeagliderTM ...... 112 Technical Specification for Seaglider (from SFC) ...... 112 Bluefin Robotics ...... 113 Autonomous Underwater Vehicles (AUVs) at Bluefin Robotics ...... 113 Bluefin-9 ...... 113 Technical Specification for Bluefin-9 (from Bluefin Robotics) ...... 113 Bluefin-12S ...... 114 Technical Specification for Bluefin-12S (from Bluefin Robotics) ...... 114 Bluefin-12D...... 115 Technical Specification for Bluefin-12S (from Bluefin Robotics) ...... 115 Bluefin-21 ...... 116 Technical Specification for Bluefin-21 (from Bluefin Robotics) ...... 116 Gliders at Bluefin Robotics ...... 117 Spray Glider from Bluefin ...... 117 Technical Specification for the Bluefin Spray Glider (from Bluefin and Scripps) ...... 117 OceanServer ...... 118 Autonomous Underwater Vehicles (AUVs) at OceanServer ...... 118 Iver2-580-S ...... 118 Technical Specification for Iver2-580-S (from OceanServer) ...... 118 Iver2-580-EP ...... 119 Technical Specification for Iver2-580-EP (from OceanServer)...... 119
11 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
YSI Integrated Systems and Services ...... 120 Autonomous Underwater Vehicles (AUVs) at YSI ...... 120 EcoMapper ...... 120 Technical Specification for Iver2-580-S (from YSI/OceanServer) ...... 120 C&C Technologies Survey Services ...... 121 Autonomous Underwater Vehicles (AUVs) at C&C ...... 121 C-Surveyor II ...... 121 Technical Specification for C-Surveyor II (from C&C) ...... 121 C-Surveyor III ...... 122 Technical Specification for C-Surveyor III (from C&C) ...... 122 C-Surveyor IV ...... 123 Technical Specification for C-Surveyor IV (from C&C) ...... 123 C-Surveyor V ...... 123 Technical Specification for C-Surveyor III (from C&C) ...... 123 Semi-submersible Unmanned Survey and Surveillance Vehicles at C&C ...... 124 ASV 6300 Hydrographic Survey Vehicle ...... 124 Technical Specification for ASV 6300 Hydrographic Survey Vehicle (from C&C) ...... 124 Fugro Survey...... 125 Autonomous Underwater Vehicles (AUVs) at Fugro ...... 125 Echo Mapper II ...... 125 Echo Surveyor I ...... 126 Technical Specification for Echo Surveyor I (from Kongsberg) ...... 126 Echo Surveyor II ...... 127 Technical Specification for Echo Surveyor II (from Kongsberg) ...... 127 Echo Surveyor IV ...... 128 Natural Resources Canada ...... 129 Autonomous Underwater Vehicles (AUVs) at Natural Resources Canada ...... 129 Exocetus Development LLC ...... 130 Gliders at Exocetus ...... 130 Exocetus Glider ...... 130
12 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification for the Exocetus Coastal Glider ...... 130 Mote Marine Laboratory ...... 131 Gliders at Mote ...... 131 Waldo Slocum Glider ...... 131 Technical Specification for Waldo (Mote) ...... 131 Phoenix International ...... 132 AUVs at Phoenix International ...... 132 Phoenix 21 Bluefin 21 AUV ...... 132 Technical Specification for Phoenix 21 (from Bluefin Robotics) ...... 132 Columbia Group ...... 133 AUVs from the Columbia Group ...... 133 Proteus AUV ...... 133 Technical Specification for Proteus (from the Columbia Group) ...... 133 Falmouth Scientific Inc...... 134 AUVs (USVs) from Falmouth Scientific ...... 134 SAUV II ...... 134 Technical Specification of SAUV II (from Falmouth Scientific) ...... 134 Liquid Robotics ...... 135 USVs from Liquid Robotics ...... 135 METOC Wave Glider ...... 135 Technical Specification for METOC (from Liquid Robotics) ...... 135 GATEWAY Wave Glider ...... 136 Technical Specification for Gateway (from Liquid Robotics) ...... 136 SHARC Wave Glider ...... 136 Technical Specification for SHARC (from Liquid Robotics) ...... 136 Lockhead Martin ...... 137 AUVs at Lockhead Martin ...... 137 Marlin Mk1 ...... 137 Technical Specification for Marlin Mk1 (from Lockhead Martin) ...... 137 Marlin Mk2 ...... 138 Technical Specification for Marlin Mk1 (from Lockhead Martin) ...... 138 Marlin Mk3 ...... 138 Technical Specification for Marlin Mk1 (from Lockhead Martin) ...... 138 13 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Marport Deep Sea Technologies ...... 139 AUVs at Marport ...... 139 SQX-500 AUV ...... 139 Technical Specification for SQX-500 (from Marport) ...... 139 Other Global Institutes ...... 140 Japan Agency for Marine-Earth Science and Technology (JAMSTEC) ...... 141 AUVs at JAMSTEC ...... 141 Urashima AUV ...... 141 Technical Structure of Urashima (from JAMSTEC) ...... 141 Central Mechanical Engineering Research Institute (CMERI) .... 142 AUVs at CMERI ...... 142 AUV-150 ...... 142 Technical Specification for AUV-150 ...... 142 Muscle Bluefin 21 ...... 142 Technical Specification for Muscle SAS Bluefin 21 (from Bluefin Robotics) ...... 142 Commonwealth Scientific and Industrial Research Organisation (CSIRO) ...... 143 AUVs at CSIRO ...... 143 Starbug AUV ...... 143 Technical Specification for Starbug (from CSIRO) ...... 143 Escola Politecnica da Universidade de Sao Paulo ...... 144 Technical Specification for Pirajuba AUV ...... 144 CSIR Natural Resources and the Environment ...... 145 Gliders at CSIR ...... 145 Other Global Commercial Companies ...... 146 Daewoo Shipbuilding and Marine Engineering Co. (DSME E&R) ...... 147 AUVs from DSME E&R ...... 147 OKPO 300 AUV ...... 147 Technical Specification for OKPO 300 ...... 147 OKPO 600 AUV ...... 148
14 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification for OKPO 600 ...... 148 OKPO 6000 AUV ...... 148 Technical Specification for OKPO 6000 ...... 148 Geodetic Offshore Services Ltd ...... 149 Mitsui Engineering and Shipbuilding (MES) ...... 150 AUVs at MES...... 150 R-One AUV ...... 150 Technical Specification for R-One (MES) ...... 150 R2D4 AUV ...... 151 Technical Specification for R2D4 (MES) ...... 151 Aqua Explorer 2000 AUV ...... 151 Technical Specification for Aqua Explorer (MES) ...... 151 Tantan AUV ...... 152 Technical Specification for Tantan (MES) ...... 152 Offshore Works GeoSurvey ...... 153 AUVs at OGS ...... 153 HUGIN 1000 at OGS ...... 153 Technical Specification of OGS HUGIN 1000 (from Kongsberg) ...... 153
15 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
United Kingdom Institutes
16 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Marine Autonomous and Robotic Systems (MARS) at National Oceanography Centre (NOC), Southampton Website: www.noc.ac.uk/research-at-sea/nmfss/mars
On March 31 March 2011 the development of the Marine Autonomous and Robotic Systems (MARS) facility was ‘agreed in principal’ and was declared ‘operational’ as of April 2012. Situated at the NOC NERC facility in Southampton, the MARS group host a broad range of submarine AUVs and gliders. These instruments are routinely deployed during the numerous research cruises undertaken each year. A regular newsletter is available from the website (www.noc.ac.uk/research-at- sea/nmfss/mars) that outlines the group’s current activities.
The MARS mission statement is, “to deliver National Capability in Autonomous Vehicles in an impartial and transparent manner to the UK’s marine science community, incorporations operations, research and development and to provide a focal point and champion for this community, raising its profile and impact with key stakeholders, research funding bodies and the public.” The MARS group also has a vision to become ‘recognised as the world leader in the integrated provision of autonomous vehicles for marine science, with effective deployments, novel capabilities and strong partnerships’.
Within MARS there are two additional delivery partners:
• PHOBOS (PHysical Oceanographic and Biogeochemical Observations of the Southern Ocean) at BAS (British Antarctic Survey) • NAGB (North Atlantic Glider Base) at SAMS (Scottish Association for Marine Science) at the Scottish Marine Institute, Oban
17 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Autonomous Underwater Vehicles (AUVs) at MARS Website: www.noc.ac.uk/research-at-sea/nmfss/nmep/autosubs
Autosub3 Contact: Colin Day ([email protected]) for programming information or David Turner ([email protected]) for technical information.
Autosub3 is especially effective in remote regions with minimal access, such as beneath sea ice or floating ice-tongues of glaciers. With upwards and downwards facing mapping sonar it is able to map both the sea ice above and the seafloor below the AUV track.
It has a total displacement of 3.6 tonnes and can travel for up to 400km on a single set of batteries. It has been outfitted with extensive acoustic instrumentation that has enabled surveying of higher trophic levels in water depths of up to 1,600m.
Technical Specification for Autosub3 Physical Characteristics 6.8m and 2,400kg (dry Depth Range 1,600m Endurance Range 4,00km or 80hours at 5km/hr Energy Supply Primary batteries, which take 12hours to charge Navigation 150kHz DVL bottom track range 400m. Has accuracy of 0.1% of distance travelled. Collision Avoidance Forward-looking single beam for ice berg, and a ground- line avoidance when under ice. Communications • Acoustic modem with 2km range. WiFi radio link when on surface enabling access to vehicle data. Control • Constant depth, altitude and distance below a surface overhead. Depth profiling and a a defined track using a holding station. Launch and Recovery • Dedicated LARS needing hydraulic power (210bar). Optimised for deployment under ice, thus has a heated container system for polar expeditions. Sensors • Multibeam – EM2000, 400m swath at 3m resolution. Capable of mapping 1.75km2/hr and can have a system configured to be upward-looking. • Sidescan – none • Sub-bottom Profiler – 2013 • ADCP – down 150kHz and up 300kHz • Magnetometer – none • CTD – Seabird 911 with pumped twin CTD sensors, dissolved oxygen transmissometer, light scattering sensor and flourometer. • Camera – none • Additional Sensors – Power: 48V and up to 200W. Communications: RS23.2 ethernet.
18 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Autosub6000 Contact: Steve McPhail ([email protected]) for programming and technical information.
Autosub6000 can operate in water depths of up to 6000m, in pressures of 600x atmosphere due to a different battery and buoyancy set up. In 2009 it was tested in water depths of 5,600m and with a new obstacle avoidance system. In regard to protecting the batteries, the batteries have been designed to withstand the pressures at depth, rather than relying on pressure vessels.
Technical Specification Physical Characteristics 5.5m and 1,800kg (dry Depth Range 6,000m Endurance Range 150km or 30hours at 5km/hr Energy Supply Secondary rechargeable batteries, which take 7hours to charge. Navigation 300kHz DVL bottom track range 200m. Has accuracy of 0.1% of distance travelled. Although acoustic tracking to within 15m when at >5,000m waterdepth. Collision Avoidance Scanning Tritech Seaking sonar for near seabed, which is optimised for rough terrain. Communications Acoustic modem with 7km range. WiFi radio link when on surface enabling access to vehicle data. Control Constant depth, altitude and distance below a surface overhead. Depth profiling and a a defined track using a holding station. Box survey with configurable line spacing, altitude, orientation and extents. Launch and Recovery Dedicated LARS needing hydraulic power. Sensors • Multibeam – EM2000, 400m swath at 3m resolution. Capable of mapping 1.75km2/hr. • Sidescan – Edgetech 2200.410/12.0kHz sonar. 0.3m resolution at 0.8km2/hr (410kHz) or 1.5m resolution at 3.0km2/hour (120kHz) • Sub-bottom Profiler – 2013 • ADCP – down 150kHz and up 300kHz • Magnetometer – none • CTD – Seabird 911 with pumped twin CTD sensors, dissolved oxygen transmissometer, light scattering sensor and flourometer. • Camera – none • Additional Sensors – Power: 48V and up to 200W. Communications: RS23.2 ethernet.
19 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Autosub LR Contact: Steve McPhail ([email protected]) for programming and technical information.
Autosub LR is in development. The aim is to have a long-endurance propelled AUV capable of 6,000km or 6month missions. It is 1/3 the weight of Autosub3 or Autosub6000. It can be set a task of analysing the sea floor on ocean scales without the requirement of a ship. Indeed, the instrument can periodically surface and transmit data via an iridium satellite data link.
Technical Specification Physical Characteristics Depth Range Endurance Range ~6,000km or 6months Energy Supply 40kg of primary lithium chloride cells, providing 68M joule of energy. Each pack costs £7000. Control System Magnetically coupled DC Navigation GPS on surface. Dead reckoning using TCM5 flux gate compass, RDI Teledyne 300kHz ADCP. Seabird strain gauge pressure sensor for depth sensing. ADCP beams used for constant altitude control. Relocation backup with an ARGOS beacon, in addition to Iridium system. Collision Avoidance ADCP beams also used for collision avoidance. Communications Two-way Iridium satellite communications for data download, mission and configuration upload. Control Constant depth, altitude and distance below a surface overhead. Depth profiling and a a defined track using a holding station. Box survey with configurable line spacing, altitude, orientation and extents. Launch and Recovery Sensors Seabird SBE 52 CTD RDI Teledyne 300kHz ADCP
20 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Air-Launched AUVs As part of NERC Oceans 2025 (2008-2011) a feasibility study of AUVs being launched from aircraft was funded. The concept was primarily focused on developing an economic means of gathering wide swaths of oceanic sensor data. The endurance was aimed at 100km during which the instrument would navigate autonomous between specified locations. Another rationale was the faster response time of mobilising an aircraft compared with a ship opens possibilities for rapid response surveys, e.g. pollution spill and algal blooms. Key to the overall success is creating an economical AUV so they could be considered to be semi disposable; crucial to this is keeping a small overall size to simplify the design, and minimise the sub systems and manufacturing costs.
21 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gliders at MARS
Teledyne Webb Slocum Electric Gliders Contact: David Smead ([email protected]) for Ammonite, Bellamite and Coprolite gliders from NOC Ocean Modelling and Forecasting Group or Stuart Cunningham ([email protected]) for Dolomite glider from NOC Marine Physics and Ocean Climate Group or Phil Knight ([email protected]) for gliders (Units 117, 175 and 194) at NOC Liverpool.
Powered by alkaline batteries, the electric glider can be deployed for a period of 15 to 30 days at a 600-1500km range. Has capacity to carry customised sensors. The Slocum 1-km gliders can operate in water depths of 1000m, while a coastal model (Slocum200) operate only in water depths up to 200m.
The glider is very suitable for long-range and endurance, where low-to-moderate speed is desired. A ‘sawtooth’ measurement profile is produced for optimal vertical and horizontal measurements in the water column. The glider is programmed for regular surfacing to provide excellent GPS positioning and allow two-way communication; no other navigation aids are required. This particular glider system is also very portable.
Technical Specification (from Teledyne) Weight 52kg Hull Diameter 21.3cm Depth Range 1.5m Speed 4-200m (coastal model) or 1000m (1-km model) Endurance 0.4m/sec (horizontal average) Range 1,500km Navigation GPS, magnetic compass, altimeter, subsurface dead reckoning Sensor Package Conductivity, temperature and depth (Teledyne Provision) Communications RF modem, Iridium satellite, ARGOS and Telesonar modem
The Ammonite, Bellamite and Coprolite gliders (NOC Ocean Modelling and Forecasting Group) are first generation (G1) Slocum 1-km gliders with a 1000m depth range. They carry a non-pumped SeaBird CTD package and has a proven endurance of 86 days using primary lithium batteries. However, these are in need of upgrade.
The Dolomite glider (NOC Marine Physics and Ocean Climate Group) is a G1.5 version 1-km model equipped with SeaBird CTD and has a proven endurance of 86 days. Currently in use for the RAPID-MOC programme.
22 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
There are three Slocum 200m gliders at NOC Liverpool. Unit 117 is a G1 model with a 200m depth range. It is equipped with a non-pumped SeaBird CTD, an Aanderaa oxygen optode, a Wetlabs triplet sensor for CDOM, Chl-a and turbidity. Unit 175 is a G1 model, again with a 200m depth range, equipped with a non-pumped SeaBird CTD and a Rockland Scientific MicroRider turbulence probe (microconductivity, shear and temperature at up to 512kHz). Unit 194 is a G2 model with a pumped SeaBird CTD, an Aanderaa oxygen optode, and a Wetlabs triplet sensor for CDOM, Chl-a and turbidity.
Propulsion
The glider forward propulsion system is created by varying the vehicle buoyancy. Designed winds and control systems convert the vertical velocity producing by varying buoyancy into forward velocity. The result is a forward and downward glide when denser than water, and a forward and upward glide when buoyancy is increased. To produce measurements throughout the water column a ‘sawtooth’ profile is used.
Navigation and Flight
The Slocum Battery Glider dead reckons to a series of waypoints with set depths and altitudes as defined in the mission text file. The glider periodically surfaces to obtain a GPS fix and communication data/instructions.
23 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
iRobot Seaglider Gliders Contact: Stuart Cunningham ([email protected]) for Altair with RAPID-MOC programme or Stuart Painter ([email protected]) for Bellatrix in the Ocean Biogeochemistry and Ecosystems Group or Gwyn Griffiths ([email protected]) for Canopus, Denebola and Eltanin with the Sensors-on-Gliders programme, also contact David White ([email protected])
As a modular AUV, Seaglider accommodates a variety of sensors that expand the robots measurement capacity and the overall range of the mission. The iRobot Seaglider also has a number of operational modes that further increase the research capacity, which range in water depth from 50-1,000m. There are four iRobot Seagliders in operation with MARS at NOC, Altair was lost offshore El Hierro in February 2012.
Technical Specification (from iRobot) Body Size 1.8-2.0m and 30cm diameter Wing Span 1m Antenna Mast 0.43-1.00m Weight 52kg (dry) Operating Depth 50-1,000m Maximum Range 4,600km (650 dives to 1km depth) Battery Endurance Littium sulfuryl chloride primary batteries, with 24V and 10V packs, providing 17MJ for 10months Typical Speed 25cm/s Glide Angle 16-45o Standard Componets Wings, rudder, isopycnal pressure hull, lithium batteries, paine pressure sensor, GPS, Iridium modem, 3-axis compass, acoustic transponder, altimeter Sensor Components CTD (SeaBird), Wetlabs backscatter/flurometer (BBFL2 VM650/CHL-A/CDOM), Aanderaa 4330 dissolve oxygen sensor.
Altair is currently was in primary use by RAPID-MOC programme. Bellatrix is in use by the Ocean Biogeochemistry and Ecosystems Group at NOC. Canopus and Denebola are to be used in the Sensors-on-Gliders programme. Eltanin also joined the fleet in June 2012.
24 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gliders at British Antarctic Survey (PHOBOS) The British Antarctic Survey (BAS) contributes to the glider fleet operated by NERC (National Environmental Research Council) through its affiliation with NOC. For the purposes of this report the gliders operated by BAS will be included within the fleet at NOC, but will be reported on separately.
The gliders procured by BAS have been seconded to Rotheras in the Antarctic to contribute to ongoing biogeochemical research and oceanic studies there.
Teledyne Slocum Gliders Contact: Mike Meredith ([email protected])
BAS has two operational Teledyne Webb Research 1-km G2 Slocum gliders, named Swallow and Amazon. Both were tested at Oban in early October 2011 is readiness for deployment to Rothera in 2012.
iRobot Seaglider Contact: Sophie Fielding ([email protected])
In March 2012 BAS took delivery of an iRobot Seaglider, which will also be deployed to Rothera.
25 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Autonomous Underwater Vehicles (AUVs) at SAMS Website: www.sams.ac.uk/smart-observations/auv
REMUS 600 AUV Contact: Tim Boyd ([email protected]) or Estelle Dumont ([email protected]).
SAMs provide Rebus, which is a positively buoyant, 2m long propeller-driven vehicle used for short duration (max 10hour), intensive surveys of the ocean bottom to water depths of 600m over distances of 70km. It is a REMUS 600 AUV model which carries a CTD, ADCP for current profiling and navigation, a fluorometer and a turbulence sensor suite.
Technical Specification (from Hydroid) Vehicle Diameter 32.4cm Vehicle Length 3.25m, but varies according to module configuration Weight in Air 240kg Max Operating Depth 600m but can be configured to 1,500m or 3,000m Energy 5.2kWh rechargeable lithium ion batteries Endurance Up to 70hours, subject to speed and sensor configuration Propulsion Direct dive DC brushless motor to an open two-bladed propeller Velocity Range Up to 2.6m/s Control 3 independent control fins providing yaw, pitch and roll control. Altitude, depth and track-line. Optional forward fins for lateral and pitch control. On/Off Magnetic Switch External Hook-up Two connectors, one for shore power and one for shore data. Alternative 802.11B wireless network via dorsal fin antenna. Casualty Circuits Ground fault, leak and low voltage, housing leak detection, all sensors and systems have operational go/no-go fault indicators. Navigation Inertial navigator, Long Baselie (LBL) acoustic, WAAS GPS and Ultra Short Baseline (USBL) Transponders for LBL 9-16kHz operating frequency range Tracking Acoustic transponder, acoustic modem and Iridium modem Communication Acoustic modem, Iridium, WiFi 2.4GHz, 100 base-T Ethernet Standard Sensors Acoustic Doppler Current. ADCP profiler, Inertial Navigation Unit (INU), Side Scan Sonar, and CTD
26 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gliders at Scottish Marine Institute (NAGB) Website: www.sams.ac.uk/smart-observations/north-atlantic-glider-basin
SAMS has a limited glider fleet that form the North Atlantic Glider Base. These are used to obtain continuous measurements of a range of seawater properties from 1,000m water depths to the surface.
iRobot Seagliders Contact: Mark Inall ([email protected]), other useful contacts include Finlo Cottier ([email protected]), Toby Sherwin ([email protected]) and Estelle Dumont ([email protected]).
SAMS provide two iRobot Seagliders named Talisker and Ardbeg. Talisker has been operating since September 2008, and has completed missions in the Rockall Trough and Celtic Sea. Ardbeg was acquired in 2012 and has completed missions in the Celtic Sea.
Talisker Ardbeg • Pressure sensor • Pressure Sensor • Un-pumped SeaBird CTD • Un-pumped SeaBird CTD • SeaBird oxygen sensor • Aanderaa oxygen optode • Aanderaa oxygen optode • Wetlabs ECO triplet (fluorescence, • Wetlabs ECO triplet (fluorescence, blue and red scattering) blue and red scattering • GPS • GPS
27 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
University of East Anglia (UEA) Website:
The University of East Anglia primary concentrates its research on ocean circulation and the links with climate. Research using gliders has focussed on understanding seasonal oxygen depletion in shelfal seas.
Gliders at University of East Anglia (UEA) Contact: Professor Karen Heywood ([email protected])
There are three iRobot Seagliders named SG502 (Minke) [also SG503 Ice Dragon or Crabby], SG510 (Orca) and SG537 (Fin) [SG579 Humpback and SG566 Tashtego].
SG502, SG510 and SG537 all have CTD, dissolved oxygen using an Aanderaa optode and optical backscatter and fluorescence sensors. SG510 has been fitted with a photosynthetically available radiation (PAR) sensor.
28 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Heriot-Watt University Website: www.osl.eps.hw.ac.uk/index
The Ocean Systems Laboratory at Heriot-Watt University is a multidisciplinary science and engineering research centre that develops advances in autonomous systems and sensor apparatus. This development has focused on novel planning, obstacle avoidance, world modelling, operator dialog and visual servicing methods.
Autonomous Underwater Vehicles (AUVs) at Heriot-Watt University Contact: Professor Yvan Petillot ([email protected]).
Heriot-Watt has two AUVs at its disporal, namely a Hydroid REMUS100 and a hover- capable AUV built at the institute called Nessie.
REMUS AUV Website: www.osl.eps.hw.ac.uk/remus
REMUS an AUV from the Ocean Systems Laboratory manufactured by Hydroid. It is designed for high-speed transits in coastal environments up to 100m water depths. It serves as a platform for high-level evaluation and validation of new autonomous software systems in development. It has partaken in a number of projects including mulit-AUV coordination trials with Nessie III and the Autonomous Pipeline Tracking project (Autotracker).
Technical Specifications (from Heriot-Watt) Vehicle Diameter 19cm Vehical Length 160cm Weight 37kg Max Operating Depth 100m Speed 2.6m/s Energy 1Kw/hr internally re-chargeable lithium-ion batteries Endurance 22hrs at optimal speed of 1.5m/s, but only 8hrs at 2.6m/s Propulsion Direct drive DC brushless motor to open 3-bladed propeller Navigation USBL, LBL and DR Standard Sensor Fit • GPS • Dual frequency sidescan (900/1800KHz) • ACDP • CTD Additional Sensor FIt • Colour downward looking camera • WiFi antenna • Forward looking sonar (Tritech Micron) • Forward looking sona (Blueview 900KHz) • WBS
29 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
PAIV (Prototype Autonomous Inspection Vehicle) AUV This AUV has a hover function and is based on a converted inspection-class ROV. The PAIV was developed by Subsea7 and SeeByte Ltd, and donated to Heriot-Watt following trials for lab and research-based work.
Technical Specification Vehicle Length 130cm Vehicle Width 80cm Vehicle Height 120cm Weight in air 350kg Maximum Operating Depth 1,000m Speed Tbc Energy 1KW/hr rechargeable lithium-ion Endurance Tbc Propulsion 6x Seaeye MCT01-B DC brushless motors to open 3- bladed propeller On/Off Magnetic switch Standard Sensor Fit • GPS • Tritech Super Speaking Sona • RDI ADCP • Forward looking colour camera • WHOI acoustic modem • UHF radio modem • Depth sensor
30 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Nessie IV AUV Website: www.osl.eps.hw.ac.uk/virtualpages/experimentalcapabilities/Nessie IV AUV.php
Originally the first Nessie AUV was developed in 2006 for the Student Autonomous Underwater Challenge (SAUC-E). Nessie IV was built in 2009 as entry to the competition. It has a hover-capability. As of August 2012 Nessie IV has been put in reserve.
Technical Specification Design Twin hull design Year of Build 2008/2009 Vehicle Dimensions 70x70x60cm Weight in air 41kg Maximum Operating Depth 100m Speed 2.6m/s Energy 500W/hr internally rechargeable Endurance 3hrs at optimum speed 1.5m/s Propulsion 5x Seabotix Direct Drive DC brushless motors Standard Sensor Fit GPS and ADCP Additional Sensor Fit • Colour downward looking camera • WiFi surface communications • WHOI micro modem – sub-surface coms • Forward looking sonar (Tritech Micron) • Forward looking sonar (BluevIew 900KHz)
31 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Nessie 2012 AUV Website: www.osl.eps.hw.ac.uk/virtualpages/experimentalcapabilities/Nessie2012
Nessie 2012 is a single hulled torpedo shaped hover-capable AUV that can be used in multiple operational roles. It provides a platform for development of new software and hardware systems. It has a hover-capable mode but can also be used for standard surveying missions.
Technical Specification Design Single hull torpedo Year of Build 2009/2012 Vehicle Diameter 28cm Vehicle Length 160cm Weight in air 45kg Max Operating Depth 100m Speed 2.6m/s Energy 2KW/hr internally rechargeable lithium-ion batteries Endurance 22hrs at 1.5m/s Propulsion 6x Seabotix direct drive dc brushless motors Standard Sensor Fit • GPS • Tritech Gemini 2D imaging sonar • WiFi surface communications antenna • 2x colour forward looking cameras • 2x colour downward looking cameras • WHOI acoustic modem • ADCP Additional Sensor Fit • Forward looking sonar (Tritech Micron) • Forward looking sonar (Blueview 900KHz) • Trident hydrophone locating system
32 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Cambridge University Autonomous Underwater Vehicle (CAUV) Website: www.cambridgeauc.co.uk/home
Cambridge University also have a small research department focusing on the development of AUVs. This group is sponsored by Schlumberger, ARM, Tritech and Cambridge R&D Cambrand.
Currently there are four vehicles in development named: Barracuda, Red Herring, Blackghost and Big Bertha. These vehicles have been entered in the annual Students Autonomous Underwater Challenge – Europe (SAUC-E). The long-term goal is to aid academic research underneath Arctic ice sheets
33 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
United Kingdom Commercial Companies
34 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Kongsberg Maritime, Norway Kongsberg provide innovative and reliable solutions for merchant marine, offshore subsea, navy, coastal marine, fisheries, maritime simulation and training and port and harbour surveillance.
Autonomous Underwater Vehicles (AUVs) at Kongsberg Website: http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/0C229E51713CC113C 125738D003E5C99?OpenDocument
Kongsberg design and manufacture the REMUS and HUGIN lines of commercial off the shelf autonomous underwater vehicles (AUV). The HUGIN range of AUVs provide a free-swimming autonomous underwater vehicle featuring high manoeuvrability, high accuracy of stabilisation, hydrodynamic shape, accurate instrumentation and excellent battery capacity. Currently HUGIN AUVs are used in oceanography, environmental monitoring and underwater resource studies. The modular design of HUGIN allows for different payload configurations depending on the mission. Kongsberg state that HUGIN is commercially applied to missions involving: high-resolution and high-speed seabed mapping and imaging, ocean exploration and monitoring, marine geological survey and inspection of engineering structures and pipelines. HUGIN also was naval applications, with secondment to missions involving mine countermeasures, rapid environmental assessment, anti- submarine warfare, and general intelligence, surveillance and reconnaissance.
35 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
HUGIN AUVs Website:http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/B3F87A63D8 E419E5C1256A68004E946C?OpenDocument
Have been in operation since 1997 and in 2007 completed 150,000 km of curveying. These are ‘free-swimming’ AUVs that offer great manoeuvrability and high accuracy of stabilisation, in addition to a hydrodynamic shape, accurate instrumentation and excellent battery capacity. There are currently four models of HUGIN in operation: HUGIN 1000 (depth ranges 1000m and 3000m versions), HUGIN 3000 (depth range 3000m) and HUGIN 4500 (depth range 4500m).
Technical Specification for HUGIN 1000 (from Kongsberg) HUGIN 1000 has a 75cm diameter and has depth ranges of 1000m and 3000m depending on the model selected. It has a three modular structure with stand fore and aft sections and a midsection with one of two modular sections.
HUGIN 1000 (1000m depth range)
Weight 650-850kg Length 4.5m Diameter 0.75m Speed 2-6kts Depth 1000m Battery LiPolymer pressure tolerant. 15KWh Endurance 24hrs at 4kts (with MBE, SSS, SBP and CTD) Navigation System NavP AINS: IMU, DVL, Depth, USBL, NavP TP Ranging, GPS and TerrNav Communication Acoustic command and data links, RF, Iridium, Ethernet, WLAN Payloads MBS, SSS, SBP, SAS, CTD, turbidity sensor, ADCP, camera etc Main Applications Naval research, offshore surveying and hydrography
HUGIN 1000 (3000m depth range)
Weight 650-850kg Length 4.7m Diameter 0.75m Speed 2-6kts Depth 3000m Battery LiPolymer pressure tolerant. 15KWh Endurance 24hrs at 4kts (with MBE, SSS, SBP and CTD) Navigation System NavP AINS: IMU, DVL, Depth, USBL, NavP TP Ranging, GPS and TerrNav Communication Acoustic, RF, Iridium, Ethernet, WLAN Payloads MBS, SSS, SBP, SAS, CTD, turbidity sensor, ADCP, camera etc Main Applications Naval research, offshore surveying and hydrography
36 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical Specification for HUGIN 3000 (from Kongsberg) HUGIN 3000 represents the offshore AUV workhorse with a 1m diameter and a 3000m depth range. Novel semi-fuel cell batteries provide 60hours endurance at 4kts whilst running multi-beam echo sounder, sidescan sonar, sub-bottom profiler and CTD running. The important features include unparalleled navigation accuracy, flexibility in payload sensors and a robust and reliable launch system, even at sea state 5.
Weight 1400kg Length 5.5m Diameter 1.0m Speed 2-4kts Depth 3000m Battery AI/HP semi fuel cell. 45KWh Endurance 60hrs at 4kts (with MBE, SSS, SBP and CTD) Navigation System NavP AINS: IMU, DVL, Depth, USBL, NavP TP Ranging, GPS and TerrNav Communication Acoustic command and data links, RF, Iridium, Ethernet, WLAN Payloads MBS, SSS, SBP, CTD, ADCP, camera etc Main Applications Offshore surveying and research
Technical Specification for HUGIN 4500 (from Kongsberg) HUGIN 4500 has a 1m diameter and a 4500m depth rating. It is longer than HUGIN 3000 and is powered by a larger version of the semi-fuel cell battery (provides 30% extra power compared to HUGIN 3000). HUGIN 4500 is also equipped with more capable payload sensors, such as higher resolution sub-bottom profiler and sidescan sonar. Today it operates as Surveyor III for C&C Technologies based in Lafayette USA.
Weight 1400kg Length 5.5m Diameter 1.0m Speed 2-4kts Depth 3000m Battery AI/HP semi fuel cell. 60KWh Endurance 60hrs at 4kts (with MBE, SSS, SBP and CTD) Navigation System NavP AINS: IMU, DVL, Depth, USBL, NavP TP Ranging, GPS and TerrNav Communication Acoustic command and data links, RF, Iridium, Ethernet, WLAN Payloads MBS, SSS, SBP, CTD, ADCP etc Main Applications Offshore surveying and research
37 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
REMUS AUVs Website: http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/D5682F98CBFBC05A C1257497002976E4?OpenDocument
REMUS AUVs are free-swimming autonomous underwater vehicles characterised by modularity, reliability and possibility for custom design. There are currently five operating AUVs in this model.
REMUS 100 AUV can be configured to house a variety of sensors. It is predominantly utilised within the coastal surveying market. The vehicle is small enough to be carried by two people, yet houses sophisticated sensors capable of surveying large swaths of seafloor. The small size eliminates the necessity for larger vessels to aid recovery and deployment.
Technical Specification for REMUS 100 (from Kongsberg Hydroid) Vehicle Diameter 19cm Vehicle Length 160cm Weight in Air 37kg Trim Weight 1kg Maximum Operating Depth 100m, but can be configured to 120m Endurance Typical mission >10hours at 2.3m/s with standard sensor setup Propulsion Direct drive DC brushless motor to open 3-bladed propeller Velocity Range Up to 2.3m/s but variable over range External Hook-up 2-pin combined Ethernet, vehicle power and battery charging, 4-pin serial connector Navigation Long baseline, Doppler-assisted dead reckoning, inertial navigation system, GPS Transponders 4 transponders are provided, with 20-30kHz range Tracking Emergency transponder, mission abort, and in-mission tracking capabilities Software VIP-based laptop interface for programming, training and post-mission analysis Data Exporting and HTML report generator and ASCII text export Reporting Operations Capable of operating 4 vehicles simultaneously in same water space Communications Acoustic coms, Iridium, WiFi and Gateway Buoy Standard Sensors Acoustic Doppler Current Profiling (ADCP) Navigation-Long Baseline Navigation (LBL) Sidescan Sonar Conductivity and Temperature Depth Bathymetry Heading, Roll and Pitch Mission Progress / System Status Optional Sensors ECO sensors, CTD, Dissolved Oxygen, pH & ORP
38 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
REMUS 100-S marks an evolution from the REMUS 100. REMUS 100-S allows for economical overnight shipping and two-person deployment. It builds on the specification of REMUS 100 with additional equipment:
• Kongsberg Inertial Navigation System including the Honeywell HG1700 or HG9900 IMU and NavP navigation processing suite • Payload Processor to initialise and control all sensors • Precise time and acoustic instrument synchronisation • Vx Works Operating System • Tri-band Field Replacement Antenna for GPS, Iridium and WiFi • Precision GPS • Acoustic Communications • 1Gbit Ethernet – for high speed data download
Optional additions to the REMUS 100-S are:
• Kongsberg Geoacoustics GeoSwath Plus Bathymetry System • Imagenex 837 Delta T Multibeam Profiling System • BlueView MB2250 3D MicroBathymetry System • Marine Sonics Technologies Dual Frequency 900/1800kHz side scan sonar • EdgeTech 2200-s 850kHz Dynamically Focused Side Scan Sonar • Black and White Video Camera with optional light bar assembly • Klein 3500 side scan sonar • HiPAP compatibility • Honeywell HG9900 IMU
Technical Specification for REMUS 100-S (from Kongsberg Hydroid) Vehicle Diameter 19cm Vehicle Length From 184cm Weight in Air From 45kg Maximum Operating Depth 100m Energy 1KWh internally rechargeable lithium-ion Endurance 10hours at 3.0kts depending on sensors
39 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
REMUS 600 was originally funded through the Office of Naval Research. The aim was to increase endurance, increase payload capacity, and offer greater operating depth. It is designed to operate in depths of 600m, allowing greater operational scope, but can also be configured to operate in depths of up to 1500m. Endurance has been increased to 24hours and battery packs can be simply replaced on recovery or recharged. Like REMUS 100 it has a proven VIP. It has been applied to hydrographic surveys, mine counter measure operations, harbour security operations, environmental monitoring, debris field mapping, search and salvage operations, fishery operations and scientific sampling and mapping.
Technical Specification for REMUS 600 (from Kongsberg Hydroid) Vehicle Diameter 32.4cm Vehicle Length 3.25m depending on sensors Weight in Air 240kg Maximum Operating Depth 600m, but can be configured to 1500m Energy 5.2KWh rechargeable lithium-ion battery (second battery tray available) Endurance Typical mission >50hours Propulsion Direct drive DC brushless motor to open 2-bladed propeller Velocity Range Up to 2.3m/s but variable over range Control 3 independent control fins providing yaw, pitch and roll control. Altitude, depth, yo-yo and track-line following provided. Optional forward fins for lateral pitch control External Hook-up 2 connectors, one for shore power and one for shore data, Alternatively 802.11G wireless network provided via dorsal fin antenna Navigation Inertial navigator, Long Baseline (LBL), Acoustic, WIAAS GPS Casualty Circuits Ground fault, leak and low voltage detection, housing leak detection, and all sensor systems have option go/no-go fault detectors Tracking Acoustic transponder, acoustic modem and Iridium modem Software VIP-based laptop interface for programming, training and post-mission analysis Data Exporting and HTML report generator and ASCII text export Reporting Communications Acoustic coms, Iridium, WiFi 2.4GHz and 100 base-T ethernet Standard Sensors • Acoustic Doppler Current Profiling (ADCP) • Doppler Velocity Log (DVL) • Inertial Navigation System (INS) • Sidescan Sonar • Conductivity and Temperature • Depth • Pressure
40 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
• GPS/WiFi/Iridium Optional Sensors • Dual frequency sidescan sonar • Dynamically focussed sidescan sonar • Synthetic aperature sonar (SAS) • ECO sensors • Video camera • Multi-beam Echo Sounder (MBES) • Electronic still camera (ESC) • Sub-bottom profiler (SBP)
REMUS 600-S represents an advance on the REMUS 600. It is fitted with Kongsberg’s Navigation Processing Suite (NavP), used on HUGIN. In addition the NavLab software is offered. The NavP enables positioning accuracy to within 1ms. The REMUS 600-S is also fitted with a Kongsberg EM2040 Compact MBES with an operational frequency range of 200-400kHz.
Technical Specification for REMUS 600 (from Kongsberg Hydroid) Vehicle Diameter 32.4cm Vehicle Length From 4.27 m Weight in Air From 326kg Maximum Operating 600m, but can be configured to 1500m Depth Energy 11.8KWh from two rechargeable lithium-ion battery trays. One 5.4KWh battery tray in main electronics section and one 6.4KWh battery in the forward payload section Endurance 24hours at 3.0kts depending on sensors
41 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
REMUS 6000 was designed under cooperation of the Naval Oceanographic Office, the Office of Naval Research and the Woods Hole Oceanographic Institution (WHOI). REMUS 6000 has been designed to operate to water depths of 6000m, enabling missions from the littoral to deep water zones. The design also enables longer endurance missions. In addition to the VIP, there is a custom Launch and Recovery System (LARS) that functions off the stern of a ship and can be set up in a few hours.
Technical Specification for REMUS 6000 (from Kongsberg Hydroid) Vehicle Diameter 71cm Vehicle Length 3.84m depending on sensors Weight in Air 862kg Maximum Operating Depth 6000m, but can be configured to 4000m Energy 11 KWh rechargeable lithium-ion battery pack in two pressure housings. A second 11kWh set is provided with system permtting 2hour turn-around. Charge time is ~8hours and can be charged for 300cycles. Endurance Typical mission >22hours Propulsion Direct drive DC brushless motor to open 2-bladed propeller Velocity Range Up to 2.3m/s but variable over range Control 2 coupled yaw and pitch fins-altitude, depth, yo-yo and track-line following provided. External Hook-up 2 connectors, one for shore power and one for shore data, Alternatively 802.11G wireless network provided via dorsal fin antenna Navigation Long Baseline Transducer (7-15kHz upward looking transducer) and Dead Reckoning with ADCP Inertial Navigation System (INS) Casualty Circuits Groud fault, leak and low voltage detection and go/no-go indicators Tracking Acoustic transponder, acoustic modem and Iridium modem Software VIP-based laptop interface for programming, training and post-mission analysis Launch and Recovery Over centred lifting frame, vehicle in vertical orientation for both launch and recovery Communications Acoustic coms, Iridium, WiFi 802.11GGHz Standard Sensors • Acoustic Doppler Current Profiling (ADCP) • Doppler Velocity Log (DVL) • Inertial Navigation System (INS) • Acoustic Modem (low freq) • Sidescan Sonar • Conductivity and Temperature • Depth • Pressure • GPS/WiFi/Iridium Optional Sensors • Dual frequency sidescan sonar • ECO sensors 42 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
• Video camera • Multi-beam Echo Sounder (MBES) • Electronic still camera (ESC) • Sub-bottom profiler (SBP)
43 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
NCS Survey Website: www.ncs-survey.com/services-4/auv-19
Contact: [email protected]
NCS Survey is an Aberdeen subsidiary of ACTEON and provides sea bed maps primarily for infrastructure projects. However, additional project work includes route, site and pre-lay surveys, debris clearance surveys, inshore and offshore pipe inspections, scour surveys, debris surveys, wind farm surveys, search and rescue operations, under-ice applications and scientific research.
Autonomous Underwater Vehicles (AUVs) at NCS The AUV surveys can given sea bed solutions for water depths of 1-1000m. Both AUV and support vessels are provided for these surveys. NCS use GAVIA AUVs.
44 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
ASV unmanned marine Systems Website: www.asvglobal.com
ASV or Autonomous Surface Vehicles Ltd are a sister company to C&C Technologies, but focus work on unmanned surface vehicles both for military, commercial and science use.
Unmanned Surface Vehicles at ASV Although there are vehicles designed for Naval target solutions and for military and security needs, there are also vehicles aimed at civilian and research sectors.
C-Cat 4 Multipurpose Work USV C-Cat is a catamaran style vehicle which is lightweight, easily deployed and highly manoeuvrable. The system is designed for water quality sampling, environmental assessments and hydrography.
Technical Specification of C-Cat 4 at ASV Length 4.25m Weight 750kg Maximum operating Surface depth Energy Sealed AGM and Lithium Speed 0-6kts Propulsion Two DC electric motors (3.5kW each, but with Diesel options Payload capacity 350kg Endurance 200miles or 48hrs (diesel) but only 8hours (battery) Control ASView – waypoint or direct control Command UHF up to 10km or Satellite/GSM coms Navigation Waypoint or direct control Integrated sensors • Interferometric sonar • Sidescan • Multibeam • IMU • ADCP • Winch • C-Nav DGSP
45 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
C-Hunter Semi-submersible USV C-Hunter is designed for offshore performance. Robust design and good sea- keeping ability means less weather down-time. Applications within hydrographic surveying, mine countermeasures, AUV/ROV/Tow Fish positioning and environmental monitoring.
Technical Specification of C-Hunter at ASV Length 6.3m Weight 2000kg Maximum operating Surface depth Energy 1x Yanmar 3YM39 diesel engine Speed 0-8kts Propulsion Diesel engine to prop Payload capacity 300kg Endurance 50hrs at 6kts or 96hrs at 4kts or 350miles at 4kts Control Autonomous, semi-autonomous or direct control Command UHF up to 10km or Satellite/GSM coms Integrated sensors • Sub-bottom profiler • Sidescan • Multibeam • CTD • PTZ camera • Inspection ROV • Passive acoustic monitoring hydrophones
C-Stat Station Keeping Buoys at USV C-Stat offers the capability of reliably positioning sensors for extended durations without the need for a ship or sea-bed anchoring. It has a state-of-the-art autonomous controller that aids station keeping.
Technical Specification of C-Stat at ASV Length 2.4, 4.0 or 5.8m Weight 350, 650 or 2000kg Maximum operating Surface depth Energy Diesel generator and battery Speed 3.5, 4.0 or 5kts Propulsion DC thrusters Payload capacity 20, 50 or 150kg Endurance 4, 15 or 30days with a range of 250, 700 or 1500miles Control ASView Command Radio/Satellite Integrated sensors Customised
46 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
BAE Systems BAE Systems have begun to develop AUVs for military use, and specifically for mine countermeasures.
AUVs from BAW Systems The AUVs in development use a Talisman configuration, in that they are oblate. Further developments have sought a stealth capability.
Talisman M Configuration This AUV is designed to remove mines and uses a one-shot ROV with destructive warheads to destroy the mine.
Technical Specification for Talisman M (BAE Systems) Length 4.5m Weight (in air) 1000kg Diameter 2.5x1.1m Depth rating 300m Energy Speed Endurance Communications Navigation Sensors Notes Stealth capability, self-righting and has obstacle avoidance
Talisman L Configuration This AUV is a much smaller design, and is two-man portable. It can be used in littoral environments with currents, and in depths below 1m. This system has scientific application, but can also be used in conjunction with Talisman M for military use.
Technical Specification for Talisman L (BAE Systems) Length 1.4m Weight (in air) 50kg Diameter 2.5x1.1m Depth rating 300m Energy Speed 5kts Endurance Communications Navigation Sensors Notes Self righting (yes)
47 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
European Institutes
48 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Marum at University of Bremen Website: www.marum.de/en/AUV_MARUM-SEAL
Marum is a marine research institute at the University of Bremen.
Autonomous Underwater Vehicles (AUVs) at MUN Currently comprises a single Explorer-class vehicle.
Explorer-class MARUM-SEAL AUV This is an Explorer Class AUV named MARUM-SEAL
Contact: Gerrit Meinecke ([email protected])
Technical Specification of MARUM-SEAL (from MARUM) Length 5.5m Weight (in air) 1.3tons Diameter 74cm Depth rating 5000m Energy Li-ion batteries 14x1kWh Speed 0.25-2.4m/s Endurance >19hours Navigation • IXSEA PHINS Inertial System • DGPS • RDI 300kHz Doppler Log • Kongsberg 1007 Obstacle Avoidance • Depth Sona (Parascientific digiquartz) Sensors • SeaBird SB49 CTD • WetLabs fluorometer and turbidity sensor • IXSEA Echoes 5000 AUV sub-bottom profiler • Benthos Dual Frequency Sidescan Sonar
49 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Reykjavik University’s Autonomous Underwater Vehicle (RUAUV) Website: www.auv.ru.is
Reykjavik University has a research group developing AUVs. The current vehicle is called Freyja. The group enters in competitions but is in its infancy. However, the group is sponsored by Advania, Teledyne Gavia, Icelandic Institute for Intelligent Machines (IIIM), JetVend and VSV.
50 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Ecole Nationale Superieure de Techniques Avancees Unit de Mecanique (ENSTA)
Gliders at ENSTA There is a fleet of gliders at DT INSU.
Slocum 200 Gliders There is one Slocum glider at ENSTA, named Pytheas (2007).
Slocum 1000 Gliders There are five Slocum gliders at ENSTA, named Hannon (2008), Himilcon (2008), Nearchos (2009), Eudoxus (2009) and Bonpland (2009).
Spray Glider at ENSTA In 2009 ENSTA purchased a Spray Glider.
51 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Observatoire Oceanoiogique de Villefranc and Laboratoire d’Oceanographie de Villefranc (OOV-LOV)
Gliders at OOV-LOV There is a fleet of gliders at OOV-LOV.
Slocum 1000 Gliders There are four Slocum 1000 gliders at OOV-LOV. These are Tournesol (2006 at OOV), Potame (2006 at LOV), Tintin (2008 LOV) and Milou (2008 LOV).
52 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Laboratoire d’Oceanographie et de Climatologie Experimentations et Approches Numeriques (LOCEAN)
Gliders at LOCEAN The gliders used by LOCEAN are also operated by ENSTA.
Slocum 200 Glider Glider Pyheas is used (from ENSTA).
Slocum 1000 Gliders Gliders Hannon, Himilcon, Nearchos, Eudoxus and Bonpland are used (from ENSTA).
Spray IRD Glider The Spray glider of ENSTA is used.
53 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Institute of Marine Sciences at the Christian-Albrechts Universitat zu Kiel (IFM-GEOMAR) Website: www.ifm-geomar.de
The Leibniz Institute of Marine Sciences at the University of Kiel (IFM-GEOMAR) was founded in 2004 through IfM and GEOMAR. The institute has four research principals: ocean circulation and climate dynamics, marine biogeochemistry, marine ecology, and dynamics of the ocean floor.
AUVs at IFM-GEOMAR There is a singular AUV at IFM-GEOMAR.
Abyss AUV The AUV Abyss is designed to perform hydrographic reconnaissance in all part of the open ocean to depths of 6000m with endurances of 24hours. The AUV is designed on the REMUS 6000 platform from Hydroid Kongsberg.
Technical Specification for AUV Abyss (from IFM-GEOMAR) Length 4m Weight 880kg Diameter 66cm Depth rating 6000m Energy Two 5.6KWh 29V lithium0ion batteries Speed 2.6m/s Endurance 24hours Communications Navigation INS and ADCP Base Sensors Pressure, temperature, conductivity, optical backscatter and eH. Added Sensors • RESON SeaBat 7125 multibeam 200/400kHz • Electronic still camera • EdgeTech Dual Frequency Side Scan Sonar and Sub-bottom profiler
Gliders at GEOMAR IFM GEOMAR have a strong fleet of gliders at their disposal.
Slocum Gliders at Geomar There are eleven gliders in operation at GEOMAR from Teledyne Webb. These are named IFM001-010.
54 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Helmholtz-Zentrum Geosthacht (HZG) Institute of Coastal Research Website: www.hzg.de
Gliders at HZG There are two gliders currently in operation.
Teledyne Slocum Gliders Since 2010 the Amadeus Slocum glider has been operational on HZG missions. A further glider Sebastein has been added.
55 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Instituto Mediterraneo de Estudios Avanzados (IMEDEA) Website: www.imedea.uib-csic.es/tmoos/gliders
This Spanish-based institute has a fleet of gliders, however they are not active at the moment.
Gliders at IMEDEA There was an original fleet of four, but there is now a seven strong fleet.
Teledyne Slocum Gliders Originally the fleet consisted of icoast00, ideep00, ideep01 and ideep02. Now the fleet comprises gliders maya, willy, willy1, willy2, newwilly, ideep01 and ideep00.
56 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
PLOCAN Canary Island Oceanic Platform Website: www.plocan.eu/en
PLOCAN is a small marine institute based on Las Palma.
Gliders at PLOCAN There are Slocum, Seaglider and Spray gliders within the fleet at PLOCAN.
Slocum G2 Electric
Technical Specification for P201 Length Weight Diameter Depth rating 1000m Base Sensors Pumped CTD, Optode 5013W dissolved oxygen sensor, DVL and WetLabs turbidity sensor. Added Sensors
Seaglider 1KA
Technical Specification for P301 Length Weight Diameter Depth rating 1000m Base Sensors Pumped CTD, and Aanderra dissolved oxygen sensor Added Sensors
Spray Glider
Technical Specification for P101 Length Weight Diameter Depth rating 1000m Base Sensors Pumped CTD, SBE dissolved oxygen sensor, SeaPoint turbidity sensor Added Sensors
57 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Sistema de Observacion y Prediccion Costero de las Islas Baleares (SOCIB) Website: www.socib.es
Gliders at SOCIB This Balearic Island-based institute has four gliders, named Sdeep00, sdeep01, sdeep02 and sdeep03. However specifications are unknown. Convenient
58 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Institut Francais de Recherche pour l’Exploitation de la Mer (Ifremer) Website: www.infremer.fr
Produces research on marine and coastal environments.
AUVs at Ifremer Currently there is only the Aster platform at Ifremer.
Aster AUV The AUV Aster is part of the fleet for coastal underwater monitoring at Ifremer.
Technical Specification for Aster (from Infremer) Length 4.5m Weight 973kg Diameter Depth rating 3000m Energy Speed 5kts Endurance 100km Communications Radio and acoustic coms Navigation INS, DVL, LBL, SBL, USBL Sensors ADCP, fisheries echosounder, spectrometer and multibeam sonar. Notes
59 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Institute for Systems and Robotics, Lison (ISR) The Institute for Systems and Robotics is located in the Lisbon Technology Institute.
AUVs at ISR Currently there is only the Infante platform in development at ISR.
AUV Infante The design of Infante is as an environmental monitoring tool in shallow coastal waters. It is a redesign of a previous AUV MARIUS.
Technical Specification for AUV Infante (ISR) Length 4.5m Weight 1000kg Diameter 1.9x0.6m Depth rating 300-600m Energy Speed 1.3-2.5m/s Endurance 19hours Communications Navigation Sensors Notes
60 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Technical University of Berlin Website: www.tu-berlin/de/menue/home/parameter/en
AUVs at TU Berlin There is currently only one AUV in development.
DNS Pegel AUV DNS Pegel is designed for vehicle research.
Technical Specification for DNS Pegel (from TU Berlin) Length 3.1m Weight 300kg Diameter 55cm Depth rating 6,000m Energy Speed 2-4m/s Endurance Communications Navigation Sensors
61 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Division Technique de l’INSU (DT INSU) Website: www.dt.insu.cnrs.fr/gliders/gliders
Gliders at DT INSU There is a large fleet of gliders at DT INSU.
Slocum 200 Gliders There is one Slocum glider at DT INSU, named Wallis (2008).
Seagliders There are two seagliders at DT INSU, named SG508 and SG509 which were purchased in 2009.
62 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
European Commercial Companies
63 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Teledyne Gavia Website: www.gavia.is
Contact: [email protected]
The company was formerly Hafmynd ehf, which was acquired by Teledyne Benthos of Teledyne Technologies in 2010, and now operates as Teledyne Gavia. The Iceland-based company have had the Gavia AUV in development since 1997, and sales of the vehicle commenced in 2000.
Autonomous Underwater Vehicles (AUVs) at Teledyne Gavia The Gavia AUS is a versatile man-portable suvey solution with a modular construction. This modularity enables rapid sensor configuration and battery replacement.
Gavia Offshore Website: http://www.gavia.is/Products/Gavia-Offshore-Surveyor
The Gavia offshore surveyor is packaged in small cases that are highly portable and even FedEx shippable. The Gavis AUV can be operated by two persons, and does not require stabilisation equipment for launch and deployment.
Technical Specification of Gavia Offshore (from Teledyne Gavia) Length 2.7m Weight (in air) 70-88kg Diameter 20cm Depth rating 500-1000m Energy 1.2kW lithium ion rechargeable module Speed 5.5kt Endurance 4-5hr at 3kt Navigation • High accuracy GPS • High precision DVL-aided Kearfott T-24 INS • Teledyne RDI Doppler Velocity Log • Long Baseline Communication • Wireless LA: IEEE 802.11g compliant • Satellite communications: full Iridium package • Acoustic modem Typical configuration • High precision INS • Swath bathymetry module • Side scan sonar module • Sub-bottom profiler • Sound velocity meter • Obstacle avoidance sonar • AutoTracker from SeeByte
64 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gavia Scientific Website: http://www.gavia.is/Products/Gavia-Scientific
The Gavia scientific surveyor can be applied to missions including: oceanography, limnology, habitat assessment, hydrography, bathymetric surveys, archaeology, wreck finding, 3D CTD, current profiling and under-ice studies.
Technical Specification of Gavia Scientific (from Teledyne Gavia) Length 1.8m Weight (in air) 49kg Diameter 20cm Depth rating 500-1000m Energy 1.2kW lithium ion rechargeable module Speed 5.5kt Endurance 6hr but can run with 2x batteries Navigation • High accuracy GPS • High precision DVL-aided Kearfott T-24 INS • Teledyne RDI Doppler Velocity Log • Long Baseline Communication • Wireless LA: IEEE 802.11g compliant • Satellite communications: full Iridium package • Acoustic modem Typical configuration • SeaBird SBE 49 CTD • ADCP • WetLabs ECO puck environmental optics • Dissolved oxygen • Swath bathymetry • Space battery module • Custom module
65 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gavia Defence Website: http://www.gavia.is/Products/Gavia-Defence
Gavia Defence is applied to missions involving defence and law enforcement, which include: mice countermeasures, anit-submarine warefare training, rapid response assessment, surveillance, search and recovery and port security.
Technical Specification of Gavia Defence (from Teledyne Gavia) Length 1.8m Weight (in air) 49kg Diameter 20cm Depth rating 500-1000m Energy 1.2kW lithium ion rechargeable module Speed 5.5kt Endurance 7hr but can run with 2x batteries Navigation • High accuracy GPS • High precision DVL-aided Kearfott T-24 INS • Teledyne RDI Doppler Velocity Log • Long Baseline Communication • Wireless LA: IEEE 802.11g compliant • Satellite communications: full Iridium package • Acoustic modem Typical configuration • DVL INS or LBL • Side scan sonar • Camera • Sound velocity meter • Obstacle avoidance sonar • Sonar Transponder Module
66 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
ACSA Alcen Website: www.acsa-alcen.com or www.alcen.com/en/our-products/autonomous- buoyancy-driven-underwater-vehicles-gliders
ACSA is a high-tech company based in France, specialising in undersea robotic and underwater positioning systems. Since 2007 is has been a subsidiary of the Alcen Group.
Gliders at ACSA ACSA are responsible for the development and production of SeaExplorer glider. These gliders are capable of gliding without wings.
SeaExplorer Website: www.acsa-alcen.com/robotics/seaexplorer
A lack of wings for gliding enables easy launch and recovery, as well as reducing entanglement. Due to its high ballast volume, SeaExplorer has a speed of 1kt, which is twice as fast as competitors. The modular design enables faster turn-around times. SeaExplorer has been applied to missions involving oceanography and science, rapid environmental response, marine mammal assessment, pollution detection and water quality monitoring. It is primarily used for oceanographic sciences, rapid environmental assessment, marine mammal assessment, pollution monitoring and water quality monitoring.
Technical Specification for SeaExplorer (from ACSA) Hull diameter 25cm Length 290cm Weight in air 59kg Maximum operating depth 700m but 850m survival Energy • Li-Ion batteries Endurance • Several months Communications • Iridium satellite and >1km local radio at 868 or 900 MHz Integrated sensors • Aanderaa or SeBird CTD Optional sensors • DO (Aandera or SeaBird) • Scattering (WetLab) • Fluorscence (WetLab or Micromodule) • Current profiling (RDI) • Acoustic profiling (ACSA) • GIB positioning (ACSA) • Altimeter (Benthos) Notes No self righting and no obstacle avoidance.
67 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Atlas Elektronik Website: www.atlas-elektronik.com/en
Autonomous Underwater Vehicles at Atlas Elektronik This Germany-based company produces ROVs and AUVs both for mine countermeasure use by the military but also for oceanographic research. There are two models of AUV, namely the SeaCat and SeaOtter.
SeaCat AUV The SeaCat is a modular unit able to be fitted with a variety of custom sensors. The tasks it is applied to include: high definition site surveying in coastal waters, dock and offshore structure inspection, police search and recovery, insurance investigations and harbour protection.
Technical Specification for the SeaCat (Atlas) Length 2m Weight (in air) 130kg Diameter 32cm Depth rating 300m Energy Rechargeable lithium polymer batteries. Speed 2m/s using thrusters Endurance 5-10hrs Communications Iridium satellite, ARGOS and WiFi Navigation Aided Inertial System (AINS) and IMU, DVL and pressure sensors, and GPS Sensors Standard payload with EdgeTech 2200-S sonar Notes Self righting (yes), hovering capability (yes)
SeaOtter MkII and MkII D AUVs The SeaOtter is designed for military and commercial uses, including mine detection, covert intelligence, rapid environmental assessments, sea bed mapping and hydrographic studies.
Technical Specification for the SeaOtter (Atlas) Length 3.65m Weight (in air) 1000kg Diameter 1.1m Depth rating 600m Energy Rechargeable lithium polymer batteries. Speed -0.5 to 7kts Endurance 20hrs at 4kts Communications Radio, WiFi, Iridium and FOC Navigation AINS (Aided Interial System), IMU, DVL and GPS Sensors CTD probe, TV camera and FLS obstacle avoidance
68 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Atlas MARIDAN Atlas MARIDAN is based in Denmark and is a subsidiary of Atlas Elektronik. In 2004 Atlas and MARIDAN combined to develop AUVs and expose them to the military market.
AUVs at Atlas MARIDAN Atlas MARIDAN have focussed efforts on developing the Atlas Elektronik SeaWolf.
SeaWolf AUV Although originally designed for military use, the adaptations to the SeaWolf and AUV characteristics beyond its ROV origin have seen it now used for maritime science. The design allows for both freshwater and coastal mapping, and can work in currents.
Technical Specification for SeaWolf (from Atlas MARIDAN) Length 2m Weight (in air) 112kg Diameter 30cm Depth rating 300m Energy Rechargeable lithium polymer batteries. Speed Up to 8kts, nominal 4kt Endurance 3hrs Communications Radio, WiFi, Iridium and FOC Navigation AINS (Aided Interial System), IMU, DVL and GPS Sensors CTD probe, TV camera and FLS obstacle avoidance Notes Obstacle avoidance (yes) and self-righting (yes), also has hovering capability
69 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
ESA SA Website: www.eca.fr
ECA SA is a French-based robotics company, which is a subsidiary of Finuchem. It has two departments focused on robotics designed for military countermeasures and civilian surveying respectively.
AUVs at ESA SA ESA SA has developed the ALISTAR platform. There are numerous different types of vehicle based on this platform.
ALISTAR 9 This is a man-portable AUV that is excellent for confined area inspection, rapid environmental assessment, homeland security, mine countermeasures and seafloor surveying.
Technical Specification for ALISTAR 9 Length 1.7-2.5m Weight 50-90kg Diameter Depth rating 200m Energy Speed 2-3kts Endurance 24hours Communications Satellite link, WiFi and acoustic transponder Navigation INS, DVL and GPS Sensors Side scan sonar, interferometric sonar, obstacle avoidance sonar, multibeam echo sonar, CTD probe and video camera. Notes
70 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
ALISTAR 18 The emphasis of this single torpedo-design AUV is high resolution and high coverage.
Technical Specification for ALISTAR 18 Length 3.5-4.6m Weight 290-440kg Diameter 47cm Depth rating 600m (but deeper on request) Energy Speed 3kts Endurance 24hours Communications Satellite link, WiFi, VHF radio and acoustic transponder Navigation GPS, INS, DVL and LBL Sensors Side scan sonar, synthetic aperture sonar, interferometric sonar, obstacle avoidance sonar, multibeam echo sonar, CTD probe and video camera. Notes
ALISTAR 18 TWIN This twin bodied AUV is designed to carry out the following missions: hydrographic littoral surveys, oil and gas surveys, underwater structure inspection, mine and warfare indentification and harbour protection. The advantages of this system lie in the accurate inspection, hover capability, manoeuvrability and stability, and the automatic relocation.
Technical Specification for ALISTAR 18 TWIN Length 2.6-3.3m Weight 490-620kg Diameter Depth rating 300-600m Energy Speed Up to 5kts Endurance 15hours Communications Satellite link, WiFi, VHF radio and acoustic transponder Navigation GPS, INS, DVL and LBL Sensors Side scan sonar, synthetic aperture sonar, interferometric sonar, obstacle avoidance sonar, multibeam echo sonar, CTD probe and video camera. Notes
71 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
ALISTAR 27 TWIN The emphasis of this AUV is multi-surveying and long endurance. The applications include hydrographic surveys, high resolution seismic survey, sediment analysis, rapid environmental response and military operations. The advantages are a full suite of sensors, can be operated from vehicles of convenience, flexibility of payload and the operating system.
Technical Specification for ALISTAR 27 Length 5m Weight 800-1000kg Diameter Depth rating 300m Energy Speed 3kts Endurance 30hours Communications Satellite link, WiFi, VHF radio and acoustic transponder Navigation GPS, INS, DVL and LBL Sensors Side scan sonar (SSS), synthetic aperture sonar (SAS), sub bottom profiler (SBP), interferometric sonar, obstacle avoidance sonar, multi-beam echo sounder, CTD probe, video cameras, acoustic camera. Notes
ALISTAR 3000 This AUV is capable of completing a wide variety of inspection tasks. Capabilities include sonar, video and hovering.
Technical Specification for ALISTAR 3000 Length 5m Weight 2300kg Diameter 1.45-1.68m Depth rating 0-3000m Energy Speed 4kts Endurance 20hours Communications Two-way RF radio, GPS, DGPS, acoustic localisation transponder, acoustic modem Navigation INS, DVL, depth sensor, altimeter and obstacle avoidance sonar Sensors Side scan sonar, obstacle avoidance sonar, multibeam echo sonar, sub-bottom profiler CTD probe and video camera. Notes
72 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
EPAULARD Designed for photography and bathymetric surveying, EPAULARD was first designed in 1980, and was the first AUV to dive to 6000m with autonomy.
Technical Specification for EPAULARD Length 4m Weight 2900kg Diameter 1.1-2.0m Depth rating 6000m Energy Speed 0.5m/s Endurance 7hours Communications Navigation Sensors Notes
73 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Evo Logics Website: www.evologics.de/en/index
Evo Logics are based in Germany and founded in 2000. They have developed a glider thus far, which has a biomimetic design of a manta ray.
Gliders at Evo The singular glider design is a biomimic.
Subsea Glider The bionic implementations of the shape-adaptive wing profiles, patented as ‘fin ray effect’, have shown the use of designs based on nature to resolve aerodynamic and control function issues with gliders.
Technical Specification for Subsea Glider (from Evo) Length 3.5m Weight 10kg Diameter 1.5x0.5m Depth rating 100m Energy Speed 1.4m/s Endurance 24hours Communications Navigation Sensors Notes
74 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Graal Tech Website: www.graaltech.it/en
Graal Tech are based in Genova, Italy, as a spinoff company of the Department of Communication, Computer and System Sciences at the University of Genova. They are a research consultancy working in automation, underwater robotics and control system design.
AUVs from Graal Tech Graal Tech have developed the Folaga platform.
Folaga AUV It was originally designed for environmental monitoring, however updates have seen deisgn changes to serve military and security application.
Length 2.04m Weight 31kg Diameter 16cm Depth rating 80m Energy NiMh batteries 12V 45Ah Speed Endurance 6hours Communications 2.4GHz radio link Navigation Sensors Notes
75 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
OceanScan MST Website: www.oceanscan-mst.com
OceanScan are based on Porto, Portugal and are affiliated with the University of Porto Underwater Systems and Technology Laboratory.
AUVs at OceanScan The Lightweight AUV (LAUV) was designed by and is operated by the University of Porto. OceanScan manufacture the LAUV platform.
Lightweight AUV (LAUV) It was designed for cost effective oceanographic, hydrographic and geological mapping with an added application to security and defence.
Technical Specification for LAUV (from OceanScan) Length 1.1m Weight 15kg Diameter 15cm Depth rating 50m Energy Speed 1.5-2.0m Endurance 8hrs Communications WiFi Navigation GPS, compass and depth sensor Sensors • Acoustic modem • Side scan sonar • Single and multibeam echo-sounder • Forward-looking sonar • Digital camera • CTD sensor • Water quality sensors • Turbidity sensors • Scattering sensors • Fluoroscence sensors • DVL • SVS • INS • LBL
76 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
North American Institutes
77 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Woods Hole Oceanography Institute (WHOI), USA Website: www.whoi.edu/main/auvs
Woods Hole Oceanographic Institute represents one of the world’s largest, private, non-profit oceanographic institutions. Woods Hole combines access to specialised tools, ships, labs and underwater vehicles with hard-won knowledge of how to explore the ocean to create a detailed understanding of the global ocean system.
Autonomous Underwater Vehicles (AUVs) at WHOI Previously WHOI operated ABE (Autonomous Benthic Explorer). However ABE was lost at sea during a research cruise in March 2010 off the coast of Chile, after 15 years of service. The successor to ABE is an AUV named Sentry. In addition to this AUV, Woods Hole Oceanography Institute have the Oceanography Systems Laboratory that develop a number of AUVs including the REMUS vehicle.
Sentry Website: www.whoi.edu/main/sentry
Sentry is capable of ocean depths of 6000m, and marks improved speed, range and manoeuvrability. Sentry produces bathymetric, sidescan sonar, sub-bottom profiler, and magnetic maps of the seafloor.
Technical Specification for Sentry (from WHOI) Depth Capability 6000m Dimensions Length: 2.9m Width: 2.2m (with fins) or 0.8m (without fins) Height: 1.9m Weight 1300kg without sensor suite Operating Range Up to 80km per dive depending on payload Propulsion 4 brushless DC electric thrusters on pivoting wings Energy Lithium-ion batteries. 13KWh Bus Power 48-52 volts DC Endurance Up to 36hours depending on speed Recharge Time 10hours with 16hour turnaround Descent/Ascent Speed 40/55m/min Navigation Long Baseline acoustic transponders, Doppler velocity log and inertial navigation system Vehicle Sensors • Paroscientific 8B7000-I Digiquartz depth sensor, rated to 7000m • Teledyne RDI 300KHz Doppler Velocity Log (DVL) • Altitude sensors • Internal Phins inertial navigation Geophysical Sensors • Reson 7125 multibeam mapping sonar, at
78 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
400KHz with 200m optical swath width • 3-axis APS 1520, 10-5 Gauss dual magnetometers • EdgeTech 2200M 120/410KHz sidescan sonar • CHIRP 4-24KHz sub-bottom profiler Oceanographic Sensors • SeaBird 49 FastCat CTD • Seapoint turbidity meter (optical backscatter) • Seafloor photography 14bit colour Project Specific Sensors • Eh electrode (Redox sensor) • TETHYS mass spectrometer • 3D imaging system • Chelsea Instruments AquaTracker flourmeter
REMUS 100 Website: www.whoi.edu/main/remus
Website: www.whoi.edu/osl/remus-100
The first REMUS was built in 1995. It has been developed and advanced to house a plethora of sensors. Its small size also makes it deployable by two people. Applications include: hydrographic surveys, scientific sampling and mapping, shallow water mine counter measures, pollution detection, pipeline inspection, undersea search and survey, BIOMASS survey and fishery operations.
Technical Specification for REMUS 100 (from OSL at WHOI) Diameter 19cm Weight 37kg Max Depth 100m Standard Sensors T-16 inertial navigation system WAAS GPS Iridium, WiFi and acoustic modems Modular docking endcap with blunt nose 1200kHz RDI ADCP Imagenex 837 multibeam profiling sonar Delta T scanning altimeter Forward and aft tunnel thrusters Standard Sensor Data Bathymetry Temperature Water velocities Salinity Sound Speed Optical backscatter Diver visibility Sidescan sonar Fluorescence
79 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
REMUS 600 Website: www.whoi.edu/osl/remus-600
REMUS 600 was designed through funding from the Office of Naval Research. REMUS 600 has extended endurance, payload capacity and operating depth. The first REMUS 600 was built in 2003, with two more being built since.
Technical Specification for REMUS 600 (from OSL at WHOI) Diameter 32.4cm Weight 240kg Max Depth 600m Speed Up to 5kts Endurance 70hrs Range 286miles Advanced sensors Synthetic aperature sonar provides high resolution data combined with large swath width compared to conventional single beam side-scans.
Laser scaler gradiometer (LSG) has a payload that carries the NSWC-PC LSG magnetometer with electronic still camera (ESC) and short range dual frequency side scan sonar.
REMUS 3000 Website: www.whoi.edu/osl/remus-3000
REMUS 3000 is designed in a similar fashion to REMUS 600, but is made from titanium and has a greater depth range. This vehicle is in the development stage, with two being built.
Technical Specification for REMUS 3000 (from OSL at WHOI) Diameter 35cm Weight 335kg Max Depth 3000m Speed Best operation at 3-4kts Endurance At 4kts 44hrs without sensors and 33hrs with full payload. Range 286miles Navigation Kearfott T-24 INS with GPS and LBL Communications WiFi, Ethernet, Iridium and ACOMMS Sensors EdgeTech sidescan sonar (120 and 410kHz) Dual digital camera system Kearfott T-24 inertial navigation system Phased array ADCPs Imagenex pencil beam forward looking sonar Optical backscatter sensors Neil Brown conductivity/temperautre Paroscientific Pressure
80 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
REMUS 6000 Website: www.whoi.edu/osl/remus-6000
REMUS 6000 was designed through funding from the Office of Naval Research and Naval Oceanographic Office.
Technical Specification for REMUS 6000 (from OSL at WHOI) Diameter 71cm, and 3.84 long Weight 884kg Max Depth 6000m Speed Up to 2.6m/s (5kts) Energy 11kWh rechargeable lithium-ion batteries Propulsion Direct drive DC brushless motor to an open 2 bladed propeller Control 2 coupled yaw and pitch fins, altitude, depth, yo-yo and track-line Tracking Emergency transponder, mission abort and ascent weight drop. Communications Acoustic modem, Iridium, 802.11B WiFi Endurance 22hrs at 4kts (2.05m/s) Navigation INU, ADCP and pencil-beam sonar collision avoidance system Standard sensors • Dual frequency side scan sonar • Custom digital camera and strobe light • Multibeam profiling sonar • CTD
81 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
SeaBED-class AUV at WHOI Website: www.whoi.edu/page.do?pid=21140
The SeaBED-class of AUV have operated on various projects from shallow coral reefs to deep sea hydrothermal vents. In addition to the original SeaBED vehicle there are also Puma and Jaguar, which are rated to 5000m. The SeaBed vehicle is capable of working off small coastal vessels or fishing boats and can be broken down into component parts for shipping.
SeaBed-class AUVs are twin-hulled vehicles providing greater stability for low-speed photography. Puma and Jaguar were designed for operation under Arctic icecaps.
Technical Specification for SeaBED (from WHOI) Length 2m Weight 200kg Sensors • RDI Workhorse Navigator ADCP (navigation) • Imagenex Delta-T imaging sonar (bathymetry) • High dynamic range Prosilica camera • WHOI Micromodem (communications) • SeaBird CTD Technical Specification for Jaguar (from WHOI) Length 2m Weight 250kg Speed 35cm/sec Depth 6000m Standard Sensors • CTD • Pressure • ADCP • Depth sensor • WHOI MicroModem • Eh sensor • Downward-facing optical camera and strobe • Imaging sonar • Magnetometer Technical Specification for Puma (from WHOI) Length 2m Weight 250kg Speed 35cm/sec Depth 6000m Standard Sensors • CTD • Pressure • ADCP • Depth sensor • WHOI MicroModem • Eh sensor • Optical backscatter sensors
82 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gliders at WHOI Previously WHOI operated ABE (Autonomous Benthic Explorer). However ABE was lost at sea during a research cruise in March 2010 off the coast of Chile, after 15 years of service. The successor to ABE is an AUV named Sentry. In addition to this AUV, Woods Hole Oceanography Institute have the Oceanography Systems Laboratory that develop a number of AUVs including the REMUS vehicle.
Spray Glider Spray gliders are about 2m long with a wingspan of 1.2m. There are no external moving parts, but move by pumping oil between two bladders. These can probide a look at entire basin sections but only travel at 23cm/sec covering 20km/day, but covering 3,600km in total. Weighing 51kg it can be launched from relatively small vessels e.g. RV Cape Hatteras or RV Tioga.
Technical Specification for Spray Glider (from WHOI) Length 2m Wingspan 1.2m Speed 23cm/sec or 20km/day Range 3600km Depth 1500m Sensors • CTD • Orientation sensors • ADCP • GPS • Dissolved oxygen • Dissolve carbon dioxide • Alkalinity • Nutrients
Slocum Gliders The long-range and endurance makes these ideal for regional studies. They can also carry a wide variety of sensors and can surface to transmit data to shore. Headed by Dave Fratantoni, the Autonomous Systems Laboratory (now OSL) operate a fleet of 20 gliders. The Baumgartner Lab at WHOI is particular uses gliders for marine mammals monitoring.
Technical Specification for Spray Glider (see Teledyne Webb ResearchI)
83 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Monterey Bay Aquarium Research Institute (MBARI) Website: www.mbari.org/auv
Based at Monetery Bay MBARI has a well development AUV research department.
Autonomous Underwater Vehicles (AUVs) at MBARI MBARI possess two AUVs which have been re-equipped with different payloads to undertaken various expeditions.
Dorado-class AUV This AUV was designed for the purpose of mapping the sea floor. It is equipped with four mapping sonars including swath multibeam, two sidescan sonars and a sub- bottom profiler.
Technical Specification of Dorado-class (from MBARI) Length 5.3m Weight (in air) 680kg Diameter 53cm Depth rating 6000m Energy Lithium-ion batteries (3x2kW) and 5kWh Eagle-Pitcher secondary cells) Speed 3kt Endurance 17.5hr with 55-85km range Propulson Brushless DC motor and gear box
Navigation INS and DVL Sensors • SeaBird SEB-49 FastCat CTD • Fluoromter • 200kHz forward looking sonar • Reson 200 kHz multibeam sonar • EdgeTech FS-AU sonar package (110 and 410kHz sidescans, and 2-16kHz sub-bottom profiler • Kearfott INS with DVL • Paroscientific pressure sensors • Ultra-short baseline with acoustic modem\
84 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Tethys AUV Tethys is a long-range AUV capable of cover distances of 1000km.
Technical Specification for R-One (MBARI) Length 2.3m Weight 110kg Diameter 0.31m Depth rating Energy CCDE Speed 0.5-1.0m/s Endurance 740hrs or 1000km Communications Navigation Sensors ?
Benthic Rover The Benthic Rover is designed to stay on the seafloor for months (6-9months) and monitor the biology at particular sites. The rover uses the current to drift into position on the seafloor, thus not stirring up the sediment. The primary goal for the instrument was to enable monitoring of carbon flux within the benthic environment.
Technical Specification for Benthic Rover (MBARI) Length 2.5m Weight 1,400kg Diameter 1.5m Depth rating 6,000m Energy Speed Endurance 6-9months Communications Navigation Sensors
85 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
National Institute for Undersea Science and Technology (NIUST) Website: www.niust.org
This is a research group comprising NOAA, the University of Mississippi and University of Southern Mississippi. NIUST was developed in 2002 to develop and apply new technologies that enhance undersea research. Of NIUST the Undersea Vehicles Technology Centre (UVTC) overseas the development and applications of AUVs.
Autonomous Underwater Vehicles (AUVs) at NIUST These comprise two different models including Eagle Ray (an Explorer-class) and MolaMola (a SeaBed-class).
Eagle Ray AUV This is an Explorer Class AUV acquired by NIUST in 2006 by NOAA after an initial test phase at the University of North Carolina Wilmington. The instrument is designed to map the sea bed at depths of 2200m.
Contact: Vernon Asper ([email protected])
Technical Specification of SeaBed-class (from WHOI) Length 4.6m Weight (in air) 940kg Diameter 69cm Depth rating 2200m Energy 18 Onyx M70X48V034P – 1.632kWh Li-ion batteries Speed 1.5-1.75m/s Endurance 30hr with 360watt payload Propulson Hathaway HT07001 brushless DC motor coupled to a 3:1 gear reducer. With cast aluminium 2 bladed screw Navigation • Kearfott 5053 – SeaDeViL INU • Acoustic telemetry LinkQuest UMW 4000 • Radio telemetry DataLinc SRM6310E • Thales DG16 GPS Sensors • Simrad EM2000 • SeaBird SBE 49 FastCat • Geoacoustics Chirp Sub-Bottom Profiler
MolaMola AUV This is a SeaBed-class AUV developed at WHOI. It can operate at depths of 6000m using detailed sonar and optical mapping of the sea floor. It is able to maintain a constant altitude at 0.5kt.
86 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Memorial University of Newfoundland (MUN) Website: www.mun.ca/research/ocp/creait/merlin/auv
Memorial University of Newfoundland is undertaking a programme of research utilising and developing AUVs in ocean science.
Autonomous Underwater Vehicles (AUVs) at MUN Currently comprises a single Explorer-class vehicle.
Explorer-class C-SCOUT AUV This is an Explorer Class AUV named C-SCOUT (Canadian Self-Contained Off the shelf Underwater Testbed).
Contact: Vernon Asper ([email protected])
Technical Specification of SeaBed-class (from WHOI) Length 4.6m Weight (in air) 700kg Diameter 69cm Depth rating 3000m Energy 6-1.1kWh E One Moli Energy Li-ion rechargeable batteries Speed 1.5m/s Endurance 6hr with 50w payload Navigation • Watson BA 303 AHRS • Sound Ocean System GPS with mast • RDI Workhorse 300kHz DVL • Kongsberg Simrad Mesotech 1007 Digital Altimeter Sensors • MicroCTD • Idronault dissolved oxygen • Cyclops-7 RWT fluorometer
87 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Cornell University Autonomous Underwater Vehicle (CUAUV) Website: www.cuauv.ece.cornell.edu
Cornell University have a department developing AUVs. The department is in its infancy, and has two small research/development vehicles called Killick and Drekar. There are also previous small vehicles produced for competitions annually.
88 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
PeRL at the University of Michigan Website: www.robots.engin.umich.edu/projects/iver#vehicle
PeRL primarily studies autonomous navigation and mapping of mobile robots, both in terrestrial and marine environments.
Autonomous Underwater Vehicles (AUVs) at MUN PeRL has modified two Ocean-Server Inver2 AUV systems for simultaneous localisation and mapping.
Ocean-Server Iver2 AUVs at PeRL The two Ocean-Server Inver2 systems have been modified with additional navigation and perceptual sensors, including 12-bit stero down-looking Prosillica cameras, a Teledyne 600 kHz RDI Explorer DVL for 3-axis bottom-lock velocity measurements, a KVH single-axis fibre-optic gyropscope for yaw rate and a WHOI Micromodem.
Technical Specification of Ocean-Server Iver2 (from PeRL) Length ?m Weight (in air) ?kg Diameter ?cm Depth rating ?m Energy 570Wh Li-ion pack Speed 2m/s Endurance ? Navigation • Microstrain 3DM0GX1 MEMS AHRS (altitude) • KVH DSP-3000 single-axis FOG (altitude) • DesertStar SSP-1 Pressure Sensor (depth) • Marine Sonics SHARPS-II 300kHz (position) • RDI Explorer 600kHz DVL (position) • RDI Explorer DVL (altitude) Sensors • Stereo cameras (Prosilica)
89 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
NURC at the University of North Carolina Wilmington (UNCW) Website: www.uncw.edu/nurc/auv
The University of North Carolina Wilmington (UNCW) contribute to the studies undertaken by NOAA.
Autonomous Underwater Vehicles (AUVs) at UNCW UNCW possess one Explorer-class AUV named Eagle Ray, which is also used by University of Southern Mississippi.
AUV Eagle Ray
Technical Specification of Ocean-Server Iver2 (from PeRL) Length 5m Weight (in air) 920kg Diameter ?cm Depth rating 2200m Energy ? Speed 2.5m/s Endurance 150km or 24-36hours Navigation • Doppler-aided Inertial Navigation System • Kalman Filter with USBL updates • Altimeter Sensors • Kongsberg Simrad EM2000 200kHz Multibeam • SeaBird FastCat SBE-49 Conductivity Temperature sensor • Paroscientific Digiquartz 9000 pressure sensor • Kongsberg-Mesotech 1007 forward-looking altimeter
90 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gliders at UNCW UNCW possess one Pelagia underwater glider/
Pelagia Glider Contact: Lance Horn ([email protected]) or Tom Potts ([email protected])
The Pelagia glider is a Slocum-class AUV glider built by Webb Teledyne. It can survey the water column to 100m water depths, operating on a saw-tooth geometry.
Length ?m Weight (in air) 52kg Diameter ?cm Depth rating 100m Energy ? Speed 0.4m/s Endurance 30days or 1,000km Navigation • GPS • Internal dead reckoning • Altimeter Sensors • SeaBird SBE41CP CPT • WetLabs 3-channel ECO Puck fluorometer • Beam Attenuation WetLabs BAM sensor • Dissolved oxygen Aanderaa Optode
91 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
University of Alaska Fairbanks Autonomous Remote Technology Lab Website: www.ims.uaf.edu/artlab/index
The research group is a part of the University of Alaska Fairbanks (UAF) School of Fisheries and Ocean Sciences at the Institute of Marine Science. Significant research is undertaken in studying the Arctic and Pacific sub-Arctic water.
Gliders at UAF Contact: Tom Weingartner ([email protected]) or Peter Winsor ([email protected]) or ([email protected])
In addition to Teledyne Webb gliders UAF also use ANT LLC littoral gliders. The advantage of the Exocetus platform is that was designed to operate in coastal environments with high currents.
Technical Specification for ANT Littoral Glider (ANT LLC on an Exocetus Platform) Length 2m Weight (in air) 120kg Diameter 32cm Depth rating 200m Energy Single battery alkaline primary and lithium-ion prototype Speed 1m/s Endurance 30days Communications Iridium satellite, ARGOS and WiFi Navigation Sensors SeaBird CTD Notes Self righting (yes) but no obstacle avoidance
Slocum Gliders at UAF The ART lab at UAF operates a small fleet of 200m electric Slocum gliders from Teledyne Webb Research. These are used to profile the water column in Alaskan waters. They are fitted with nutrient sensors and Lithium batteries. Measurements taken include salinity, temperature, pressure, nitrate, fluorescence, backscatter and CDOM.
Technical Specification for Slocum Gliders at UAF (from Teledyne Webb) Length 1.5m Weight (in air) 52kg Diameter 49cm Depth rating 200m Energy Lithium-ion batteries Speed 0.35m/s Endurance 720hrs Navigation GPS, magnetic compass, altimeter and dead reckoning Sensors Conductivity, temperature and depth
92 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Florida Atlantic University
AUVs at Florida Atlantic University
Morpheus AUV The Advanced Marine Systems Lab at Florida Atlantic University developed the highly modular mini AUV named Morpheus. It can measure from between 4ft and 10ft depending on the mission and module specification. It can be applied to a variety of missions including beach survey, coastal mapping, environmental monitoring, freshwater mapping, marine surveys, mine countermeasures and rapid response assessments.
Length 1.5m Weight 35kg Diameter 25cm Depth rating 200m Energy Speed 1m/s Endurance Communications Navigation Sensors Notes
93 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Georgia Tech Research Institute
AUVs at Georgia Tech Georgia Tech have designed a man-portable AUV.
Yellowfin AUV Yellowfin was developed as a man-portable AUV at low expense, with the vehicle costing US$30,000.
Technical Specification for Yellowfin AUV (from Georgia Tech) Length 89cm Weight 7.7kg Diameter 13cm Depth rating Energy Speed 2kts Endurance 10hours Communications WiFi, RF radio and acoustic transponder Navigation GPS, IMU, compass and depth sensor Sensors SLAM sonar Notes
94 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
MIT AUV Laboratory Website: www.auvlab.mit.edu
Contact: [email protected]
The MIT Sea Grant’s AUV Laboratory is a world leader in the development and application of autonomous underwater vehicles. AUVs have been built since 1989. Early vehicles include Odyssey I, Odyssey II and SeaSquirt.
AUVs at MIT There are numerous AUVs at MIT which are designed on the Odyssey model with adaptations.
Odyssey IV The Odyssey IV-class AUV is the result of a need for greater capacity and greater maneuverability. The focus, above a broad payload, is the ability for rapid transits and quick descent and resurface to great depths.
Technical Specification for Odyssey IV (from MIT) Length 2.6m Weight 25kg Diameter 1.5mx1.3m Depth rating 6000m Energy Lithium ion batteries at 4.5kWh Speed 2m/s Endurance Communications Navigation Sensors Notes NEREUS mass spectrometer, multibeam and cameras
95 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Caribou AUV Caribou is MITs newest addition. It was built by Bluefin Robotics as a custom vehicle. It has a capacity for surveying beach and coastal environments, as well as freshwater mapping.
Technical Specification for Caribou (custom from Bluefin Robots) Length 3.45m Weight 1000kg Diameter 0.6m Depth rating 3,000m Energy Speed 1.5m/s Endurance 20hours Communications Navigation Sensors EdgeTech FS-AU sidescan sonar Notes
MIT LAMSS Bluefin 21 The MIT AUV lab has two Bluefin 21 AUVs.
Technical Specification for MIT LAMSS Bluefin 21 (from Bluefin Robotics) Length 4.93m Weight Diameter 53cm Depth rating 4500m Energy Speed 1.5m/s Endurance Communications Navigation GPS Sensors CTD Pressure sensor Chlorophylla and colour dissolved organic matter sensor
Notes
96 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Waitt Institute of Discovery Website: www.waittinstitute.org
The Waitt Institute of Discovery is a non-profit research institute based in La Jolla, California.
AUVs at Waitt Institute As part of the CATALYST Program Waitt brought in two REMUS 6000 AUVs depth rated to 6000m from Hydroid, which were named Mary Ann and Ginger.
Mary Ann and Ginger REMUS 6000 AUVs The application of these vehicles was for vehicle research, mapping studies, marine conservation, ocean monitoring, geological surveying and archaeological investigations.
Technical Specification for REMUS 6000 AUVs at Waitt (from Hydroid) Length 3.84m Weight 862kg Diameter 71cm Depth rating 6000m Energy Speed 2.6m/s Endurance 22hours Communications Navigation Sensors Side scan sonar, DVL and ADCP. Also multibeam sonar and an echo puck (proxy CTD). Also has a sub-bottom profiler. Notes
97 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
University of Connecticut (UCONN) Website: www.marinesciences.uconn.edu
The Marine Science Department is based at Avery Point at Long Island Sound.
Gliders at UCONN The University of Connecticut has invested in two Slocum gliders from Teledyne Webb.
UCONN Slocum Gliders The two gliders are named Bill and Frank. They are shallow water (200m) electric gliders. The gliders provide data that augments the coastal data collected by the coastal observatory.
Technical Specification for Bill and Frank (UCONN) Length 1.78m Weight 52kg Diameter 1.1m x 0.5m Depth rating 200m Energy Speed 0.35m/s Endurance 720hrs Communications Navigation Sensors SeaBird CTD Aanderra 3835 Dissolved Oxygen Optode Acoustic modem from Teledyne Benthos One glider has WetLabs backscatter and fluorometer
98 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
University of Hawaii School of Ocean and Earth Science and Technology (SOEST) Website: www.hahana.soest.hawaii.edu/seagliders/index
The University of Hawaii’s SOEST was founded in 1988 and is based in Honolulu. SOEST have a commitment to become one of the leading ocean science research institutes.
Gliders at SOEST Currently SOEST are only in possession of an iRobot Seaglider.
SOG iRobot Seaglider
Technical Specification for SOG (from iRobot) Length 2.8m Weight 52kg Diameter 0.4m Depth rating 1000m Energy Speed 0.25m/s Endurance 7200hours Communications Iridium Navigation GPS and Iridium Sensors CTD and fluorometer Notes
99 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Rutgers University Coastal Ocean Observation Lab (COOL) Website: www.rucool.marine.rutgers.edu
The Coastal Ocean Observation Laboratory is part of the Institute of Marine and Coastal Sciences. Rutgers both collect oceanographic data and process the NOAA sea surface temperature data.
Gliders at Rutgers The COOL facility currently has a fleet of four Slocum gliders purchased from Teledyne Webb.
Slocum Gliders There is a fleet of four Teledyne Slocum gliders in operation.
Technical Specification for Slocum Gliders (from Teledyne) Length 1.78m Weight 52kg Diameter 1.0m Depth rating 1,000m Energy Speed 2-4m/s Endurance Communications RF modem, Iridium satellite, ARGOS and Telesonar modem Navigation GPS, magnetic compass, altimeter, subsurface dead reckoning Sensors Conductivity, temperature and depth
100 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
University of South California Robotic Embedded Systems Laboratory There are two research groups at the University of South California (USC) that include the Robotic Embedded Systems Laboratory (RESL) and the Centre of Integrated Networked Aquatic Platforms (CINAP). Together these groups conduct oceanographic research using robotic vehicles.
Gliders at USC RESL operate two Teledyne Slocum gliders for the research purposes of CINAP.
Slocum Gliders at USC The two Slocum gliders can continuously gather temperature, salinity and depth measurements. In addition measurements of chlorophyll-a, nitrates and phosphates.
Technical Specification for Slocum Gliders (from Teledyne) Length 1.78m Weight 52kg Diameter 1.0m Depth rating 1,000m Energy Speed 2-4m/s Endurance Communications RF modem, Iridium satellite, ARGOS and Telesonar modem Navigation GPS, magnetic compass, altimeter, subsurface dead reckoning Sensors Conductivity, temperature and depth Fluorometer
101 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
North American Commercial Companies
102 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
iRobot As a company iRobot design intelligent robotic devices, for marine use they produce the iRobot Seaglider.
Gliders at iRobot As stated iRobot have developed and produced the iRobot Seaglider.
iRobot 1KA Seaglider Website: http://www.irobot.com/us/robots/Maritime/Seaglider.aspx
Contact: maritimesales@irobot.com
This is a deep-diving UUV designed for missions lasting several months. The Seaglider is capable of transmitting data enroute via a satellite. More than 135 Seagliders have been delivered to customers for application within oceanography, surveillance and harbour defense.
Technical Specification for Seaglider (from iRobot) Depth Capability 20-1000m Dimensions 1.8-2.0m wide and 30cm diameter Weight 52kg Operating Range 4600km or 600 dives Energy Lithium sulfuryl chloride primary batteries, 24V and 10V packs (up to 10months) Navigation Dead reckoning with GPS and altimeter and Iridium Vehicle Sensors • Nortek AD2CP current profiler • SeaBird CTD • WetLabs backscatter and fluorometer • Aanderaa dissolved oxygen • Biospherical Instruments PAR sensor
103 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
International Submarine Engineering (ISE), Canada Website: www.ise.bc.ca/auv
Contact: [email protected]
The ISE Group design and integrate autonomous and remotely operated robotic vehicles. ISE Ltd. and its wholly owned subsidiary, ISER Ltd. (ISE Research), are engineering companies engaged in the development and manufacture of subsea, land and space robotic systems.
Autonomous Underwater Vehicles (AUVs) at ISE In 2001 ISE began development of a modular AUV, called Explorer. The first Explorer vehicle was delivered to IFREMER in 2004. Vehicles were also ordered by the University of Southern Mississippi and of Mississippi (via NOAA) and the Memorial University of Newfoundland in 2004. In 2006 the University of Bremen placed an order for a 5000m depth rated Explorer in March 2006. In addition Natural Resources Canada (2 vehicles) and Fukada Salvage and Marine Works have also acquired the Explorer AUV.
Explorer AUVs The Explorer AUV is designed for endurance and customisation, and hence is based on a modular design. The aluminium pressure hull provides instrument bays both wet and dry. The wet payload bays can accommodate a wide range of multi-beam echo sounders and side-scan sonar, as well as more typical hydrographic instruments. Data is downloaded via a high-speed Ethernet port, whilst a separate port is utilised for charging. GPS fix is via an optical telescoping mast.
Technical Specification for Explorer AUVs (from ISE) Length 4.5-6.0m Hull Diameter 0.69m Dry Weight 750-1250kg Working Range 120km at 1.5m/s with 75W payload Maximum Depth Models at 300m, 1000m, 3000m and 5000m Speed Range 0.5-2.5m/s Power Source 1.2-2.4KWh lithium-ion battery Control Computer Rack mount compact PCI system Navigation iXSea Fibre-Optic or Ring Laser Gyro INU Velocity Sensor Teledyne RDI Workhouse 300 or 600 kHz DVL Positioning Motorola GPS antenna on fixed or telescopic mast and USBL transponder Depth Sensor Paroscientific Digiquartz transducer Altitude Sensor KSM 675 kHz Digital Altimeter Acoustic Communications ORCA MATS 200 or LinkQuest UM4000 Radio Telemetry 900 or 2400 MHz radio, Iridium satellite
104 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Payload Capacity 200kg without removing trim lead Emergency Equipment ORE LXT transponder locater, Novatech Strobe, RF radio Beacon
Arctic Explorer AUVs ISE built two Arctic Explorers for Natural Resources Canada to specifically map under the Arctic ice shelf. It represents the largest of the Explorer class. It possess a unique variable ballast system that enables it to ‘park’ on the sea floor or hold itself underside of the ice during missions. It can also remain under the ice and be serviced by a portable ROV.
Technical Specification for Arctic Explorer AUVs (from ISE) Length 7.4 Hull Diameter 0.74m Dry Weight 2200kg Working Range 450km Maximum Depth 5000m Speed Range 0.5-2.5m/s cruising at 1.5m/s Power Source Exide Technologies rechargeable lithium-ion batteries Payload • Knudsen 118kHz single beam echosounder • Sea Bird FastCat CTD • Kongsberg Simrad 200kHz EM2000 multibeam echosounder Control Computer Rack mount compact PCI system Hydroplanes Aft planes and two foreplanes Navigation iXSea Fibre-Optic Inertial Navigation Unit Velocity Sensor Teledyne RDI Workhouse 300 kHz DVL Positioning GPS on surface, acoustic positioning from acoustic telemetry signal underwater Depth Sensor Paroscientific Digiquartz transducer Altitude Sensor Kongsberg Mesotech 675kHz Digital Altimeter Acoustic Communications Benthos ATM 885 Acoustic Telemetry System 9-14kHz Radio Telemetry 2400MHz radio, Iridium satellite communications Emergency Equipment Novatech Strobe and RF Radio Beacon, Drop Weight
105 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Theseus AUVs Theseus was originally developed to lay long lengths of fibre-optic cable under Arctic.
Technical Specification for Arctic Explorer AUVs (from ISE) Length 10.7m Hull Diameter 127cm Dry Weight 8600kg Working Range >1360km or 60hrs Maximum Depth 2000m Speed Range 4kts Power Source Up to 600kWh lithium-ion Payload • Knudsen 118kHz single beam echosounder • Sea Bird FastCat CTD • Kongsberg Simrad 200kHz EM2000 multibeam echosounder Navigation iXSea PHINS INU and RDI 300kHz Doppler sonar Positioning GPS on surface, acoustic positioning from acoustic telemetry signal underwater Depth Sensor Paroscientific Digiquartz transducer
106 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Semi-Submersible Autonomous Underwater Vehicles (AUVs) at ISE Semi-submersible AUVs are underwater vehicles which can operate just below the sea surface. Due to the semi-submersible state a surface piercing mast allows air to be drawn into the vehicle and a diesel engine be used.
These vehicles are of particular use for shallow water surveying or towing where long distances are required to be covered at reasonably high speeds (2-10 m/s).
Dolphin Semi-Submersible AUV Website: www.ise.bc.ca/Dolphin.html
The DOLPHIN was originally designed and tested in 1985. Its original design aim was to provide a stable sensor platform for deployment in adverse sea states. Within the US and Canadian Navies these vehicles are known as ORCAs. The vehicle model is currently under reconstruction.
Technical Specification for Dolphin (from ISE) Length 7.3m Diameter 1m Normal draft submerged 4.5m Mast height 4.5m Displacement 2832kg Sonar Side scan sonar, carrying AQS14, AQS20, TMS2054 or ISE Aurora Speed 12kt with 3kt towing at 600ft Endurance 26hr Propulsion Sabre 212 HP turbo-charged inter-cooled marine diesel engine System Control UHF narrow band FM full duplex telemetry Umbilical Winch 310m of 7.32mm, 7conductor cable. Revolution count and docking sensors Vehicle Control and Data Motorola 68030 CPU and Windows PC Display Minehunting Sensors Klein 5500 single beam side scan sonar (AN/AQS14) and the Reson 8101 Seabat Hydrography Sensors Dolphin and ORCA have operated the Simrad EM 1000 and EM 950 multibeam echo sounders as well as Reson 8125 Seabat
107 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Dorado Semi-Submersible AUV Website: www.ise.bc.ca/dorado.html
The Dorado vehicle is capable of towing a sonar towfish at speeds of 12kts and at depths of 200m. It si powered by 315kW marine diesel engine, Air is drawn through the mast and exhausted through the stabilizer above the contra-rotating propoellar. The towfish is developed to follow the seabed at low altitudes and is fitted with a multibeam sidescan sonar. The concept for the vehicle was to aid minehunting.
Technical Specification for Dolphin (from ISE) Length 8.23m Width 2.28m Diameter 1.17m Normal draft submerged 4.5m Weight (dry fuelled) 5900kg Full capacity 725kg Dry payload weight 210kg Speed 16kt with 12kt towing Endurance 12hr at 200m depth tow, 28hr without tow Propulsion Caterpillar 3126-315kW turbo charged marine diesel Payload ISE Aurora Towfish with Mulitibeam sidescan sonar Control Manual, autopilot or autonomous DGPS baseline Guidance IXSEA Octans FOG providing 50Hz closed loop hydroplane control of depth, pitch, roll and heading.
108 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Teledyne Webb Research Website: www.webbresearch.com/default.aspx
Teledyne Webb Research is a subsidiary of Teledyne Marine based in Falmouth, Massachusettes. They are a specialist in long endurance floating, drifting and glider apparatus.
Contact: [email protected]
Slocum Gliders at Teledyne Webb Research First developed by Douglas C. Webb the Slocum glider, named for Joshua Slocum, is a uniquely mobile unmanned vehicle capable of moving to predetermining locations and depths. Using variable buoyancy it manoeuvres with a sawtooth profile. The Slocum gliders are used at Rutgers Group, NOC, WHOI and Mote Marine Lab.
Generation 1 Slocum Glider from Teledyne Website: www.webbresearch.com/electricglider
This is a versatile and manoeuvrable powered by alkaline batteries. The generation 1 and its successor G2 are both electric gliders capable of 15-30 day deployments over ranges of 600 to 1500 km. Two depth-rated models exist being a 200m coastal model and a 1000m deep sea model.
Technical Specification (from Teledyne Webb Research) Weight 52kg Hull Diameter 21.3cm Vehicle Length 1.5m Depth Range 4-200m (costal model) and 1000m (1-km model) Speed 0.4m/sec Endurance Typically 30days depending on sensors Range 1500km Navigation GPS, magnetic compass, altimeter, subsurface dead reckoning Sensors Conductivity, temperature and depth Communications RF modem, Iridium satellite, ARGOS, Telesonar modem
109 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Generation 2 (G2) Slocum Glider from Teledyne An advance on the generation one model, the G2 provides additional sensor capability and battery power. Other additional capabilities include waypoint transects, virtual mooring, storm sampling and coordinated fleet feature.
Technical Specification for G2 Slocum (from Teledyne) Weight 54kg Hull Diameter 22cm Vehicle Length 1.5m Power Alkaline (A) or Lithium (L) batteries Depth Range 4-200m (costal model) and 1000m (1-km model), however configurations include 30m, 100m, 200m, 350m and 1000m Speed 0.35m/sec Endurance Typically 15-50 days (A) or 4-8months (L) Range 600-1500km (A) or 4000-6000km (L) Navigation GPS waypoints, pressure sensor and altimeter Sensors Available • Acoustic bioprobe • Acoustic Doppler current profiler (ADCP) • Acoustic modem (Benthos ATM-900) • Acoustic mammal detection (Vemco Fish Tracker hydrophone, 500m-rated) • Bathyphotometer (bioluminescence) • Beam attenuation meter • SeaBird CTD pumped • Hydrophones • Optical backscatter • Optical attenuation • Optical flourometer (Wet Labs 1km rated chlorophyll at 470/695nm and turbidity at 700nm) • Dissolved Oxygen (Aanderaa Oxygen Optode rated to 6000m) • Oxygen (Rinko Fast Response Optical Oxygen Sensor, 1km rated) • Radiometers (Satantic AUV Micro 4 Irradiance or Radiance sensor) • PAR radiometer (Single channel photosynthetically active radiation sensor 400-700nm or Logarithmic AUV PARS sensor) Externally Mounted SUNA incorporates the MBARI-ISUS nitrate Sensors measurement technology (Submersible Ultraviolet Nitrate Analyser shallow or deep). Rockland Scientific MicroRider is a turbulence microstructure measurer (RSI MicroRider MR-1000-6 shallow or deep) Communications RF modem, Iridium satellite, ARGOS, Acoustic modem
110 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Thermal Slocum Glider from Teledyne Website: www.webbresearch.com/thermal
This vehicle offers long range endurance using environmental energy via a thermal engine. The thermal glider can be deployed to a maximum depth of 1200m for a period of 5years with a range of 40,000km.
Technical Specification for G2 Slocum (from Teledyne) Weight 60kg Hull Diameter 21.3cm Vehicle Length 1.5m Power Thermal Engine Depth Range 1200m Speed 0.4m/sec Endurance 3-5years Range 40,000km Navigation GPS, magnetic compass, altimeter and subsurface dead reckoning Sensor Package Conductivity, temperature and depth Communications RF modem, Iridium satellite and ARGOS
111 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Seaglider Fabrication Centre (SFC) at the University of Washington Website: www.seaglider.washington.edu/index.html
Email: [email protected]
Seaglider Fabrication Centre provide the new SeagliderTM. In May 2008 University of Washington licensed iRobot Corporation to build standard Seagliders for external clients. However as of Dec 2012 the Maritime Systems Division based in Durham has closed.
Autonomous Underwater Vehicles (AUVs) at SFC Previously WHOI operated ABE (Autonomous Benthic Explorer). However ABE was lost at sea during a research cruise in March 2010 off the coast of Chile, after 15 years of service. The successor to ABE is an AUV named Sentry. In addition to this AUV, Woods Hole Oceanography Institute have the Oceanography Systems Laboratory that develop a number of AUVs including the REMUS vehicle.
SeagliderTM The Seaglider moves slowly through the ocean propelled by buoyancy control and wing lift. Missions commonly last months and operations can reach 1000m water depths.
Technical Specification for Seaglider (from SFC) Length 1.8m Diameter 30cm Antenna Mast 1m Weight 52kg Max Depth 1000m Max Range 4600km (650 dives to 1km) Power Lithium primary batteries (24V and 10V) Speed 25cmsec (1/2kt) Glide Angle 16-45o Navigation Iridium satellite Guidance GPS Sensors SeaBird CTD WetLabs fluorometer Optical backscatter At present customers include: University of Washington (Dr Charlie Eriksen), Integrated Observational Platforms (Dr Craig Lee), Australian National Facility for Ocean Gliders (ANFOG), University of Hawaii (Hawaii Mapping Research Group), University of Cyprus Oceanography Centre, US Navy, Alfred Wegner Institute Germany, College of Oceanographic and Atmospheric Sciences (Oregon State University), and Hawaii Ocean Time Series.
112 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Bluefin Robotics Website: www.bluefinrobotics.com
Contact: Eric Levitt of Commercial and International Markets ([email protected] )
In 2005, Bluefin became a wholly-owned subsidiary of Battelle Memorial Institute, based in Quincy Massachuesettes. Bluefin Robotics develops, builds and operates AUVs and related technologies for defense, commercial and scientific customers. Using a core of models, Bluefin have designed over 50 different configurations and over 70 different sensors to over 80 AUVs.
Autonomous Underwater Vehicles (AUVs) at Bluefin Robotics
Bluefin-9 Website: www.bluefinrobotics.com/products/bluefin-9/
The Bluefin-9 is a lightweight model capable of a two-person deployment. It is primarily deployed for inshore surveying, mine countermeasures, port and harbour security and rapid environmental assessments.
Technical Specification for Bluefin-9 (from Bluefin Robotics) Diameter 24cm Length 175cm Weight 60.5kg Buoyancy 0.9kg net positive Depth 200m Endurance 12hrs at 3kts and standard payload Speed Up to 5kts Energy 1.5kWh. One 1.5kWh battery pack lithium-polymer Propulsion Gimbaled, ducted thruster Navigation Accuracy to <0.3%, IMU, DVL, CT sensor and GPS Communications Acoustic modem. Ethernet via cable. RF antenna Safety Systems Fault and leak detection, acoustic tracking transponder, strobe and RDF Standard Payload Marine Sonic Technology 900/1800kHz dual frequency side scan sonar Deep Sea Power and Light MultiSeaCam 1060 YSI 6560 CT Probe YSI 6136D Turbidity Probe
113 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Bluefin-12S Website: www.bluefinrobotics.com/products/bluefin-12s/
The Bluefin-12S is a highly modular autonomous vehicle, which is capable of carrying multiple payloads. Modularity also enables for rapid mission turnaround. It is deployed for inshore surveying, search and salvage missions, oceanography, scientific research and mine countermeasures.
Technical Specification for Bluefin-12S (from Bluefin Robotics) Diameter 32cm Length 377cm Weight 213kg Buoyancy 3.6kg net positive Depth 200m Endurance 26hrs at 3kts and standard payload Speed Up to 5kts Energy 4.5kWh. Three 1.5kWh battery pack lithium-polymer Propulsion Gimbaled, ducted thruster Navigation Accuracy to <0.5%, IMU, DVL, SVS and GPS Antenna GPS, RF and strobe Communications RF and acoustic, Iridium, Ethernet via shore cable Safety Systems Fault and leak detection, acoustic tracking transponder, strobe and RF and Iridium Software GUI-based operator tool suite Date Management 4GB removable data storage module Standard Payload SSS, SAS and others
114 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Bluefin-12D Website: www.bluefinrobotics.com/products/bluefin-12d/
The Bluefin-12D is another modular vehicle. It is able to dive deeper and carry greater payloads. It is deployed for offshore surveying, search and salvage, archaeology and exploration, environmental protection and mine countermeasures.
Technical Specification for Bluefin-12S (from Bluefin Robotics) Diameter 32cm Length 432cm Weight 260kg Buoyancy 3.6kg net positive Depth 1500m Endurance 30hrs at 3kts and standard payload Speed Up to 5kts Energy 7.5kWh. Five 1.5kWh battery pack lithium-polymer Propulsion Gimbaled, ducted thruster Navigation Accuracy to <0.1%, INS, DVL, SVS and GPS Antenna GPS, RF and strobe Communications RF and acoustic, Iridium, Ethernet via shore cable Safety Systems Fault and leak detection, acoustic tracking transponder, strobe and RF and Iridium Software GUI-based operator tool suite Date Management 4GB removable data storage module Standard Payload Swappable payload 1: EdgeTech 2200-MP 120/240kHz side scan
Swappable payload 2: Digital camera and LED-based strobe
115 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Bluefin-21 Website: www.bluefinrobotics.com/products/bluefin-21/
The Bluefin-21 is another modular vehicle. It has the greatest modularity and depth range. It is deployed for offshore surveying, search and salvage, archaeology and exploration, environmental protection and mine countermeasures.
Technical Specification for Bluefin-21 (from Bluefin Robotics) Diameter 53cm Length 493cm Weight 750kg Buoyancy 7.3kg net positive Depth 4500m Endurance 25hrs at 3kts and standard payload Speed Up to 4.5kts Energy 13.5kWh. Nine 1.5kWh battery pack lithium-polymer Propulsion Gimbaled, ducted thruster Navigation Accuracy to <0.1%, INS, DVL, SVS and GPS Antenna GPS, RF and strobe Communications RF and acoustic, Iridium, Ethernet via shore cable Safety Systems Fault and leak detection, acoustic tracking transponder, strobe and RF and Iridium Software GUI-based operator tool suite Date Management 4GB removable data storage module Standard Payload EdgeTech 2200-MP 120/240kHz side scan EdgeTech DW-216 sub-bottom profiler Reson 7125 400kHz multibeam echo sounder
116 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Gliders at Bluefin Robotics Bluefin have produced the Spray Glider in conjunction with Scripps. It is used primarily for oceanographic studies, environmental protection and monitoring, and scientific research.
Spray Glider from Bluefin The Bluefin Spray Glider is a depp-diving, buoyancy-driven autonomous underwater vehicle. The Spray is equipped with a number of sensors to monitor water quality.
Technical Specification for the Bluefin Spray Glider (from Bluefin and Scripps) Length 213cm Weight 52kg Diameter 20cm Depth rating 1500m Energy Lithium polymer batteries (17.5MJ) Speed 19-25cm/s Endurance 6months or 4800km Communications Iridium SBD and serial via shore cable Navigation Compass, GPS and depth sensor Sensors • SeaBird CTD • Dissolve oxygen • Fluorometer • Turbidity OBS • Altimeter Notes
117 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
OceanServer Website: www.inver-auv.com
Contact: [email protected]
OceanServer, based in Fall River Massachusetts, specialise in reliable and rugged AUVs for shallow water work. By 2011 OceanServer had built up 7 years of experience and shipped 150 vehicles.
Autonomous Underwater Vehicles (AUVs) at OceanServer OceanServer provide a commercially developed, low cost Autonomous Underwater Vehicle named Iver2. This is ideal for applications such as sensor development, survey work, sub-surface security, research and environmental monitoring.
Iver2-580-S Website: www.iver-auv.com/iver2580s
The standard Iver2 vehicle is rugged and reliable vehicle valued at $50,000 USD. It can be deployed in fresh and salt water, and gathers data including bathometry, environmental monitoring, search and recovery, surveys and general data collection. Common payloads include sidescan sonar or multi-beam sonar, acoustic current profiling and video-imaging.
Technical Specification for Iver2-580-S (from OceanServer) Hull diameter 14.7cm carbon fibre tube Length 127cm Weight in air 19kg Trim weight 1.2kg Maximum operating depth 100m Energy 600Whr Li-battery system Endurance 14hours Propulsion Direct drive DC brushless motor, corted and protected propellers Control 4 independent fine control surfaces, yaw, pitch and active roll correction. Command 802.11n battery powered WiFi AP to move missions to the vehicle. Navigation Dead Reckoning basic, optional integrated DVL for active navigation. Patented underwater GPS option. Accuracy to 0.5% distance travelled. Integrated sensors Depth (pressure), altimeter (acoustic), 3 axis digital compass, leak detectors Optional sensors DVL 4, 6 and 10 beam options, Iridium modem and more.
118 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Iver2-580-EP Website: www.iver-auv.com/iver2580ep
The expanded payload vehicle (EP) is used by research globally. The additional payload space enables a variety of sensors to be added.
Technical Specification for Iver2-580-EP (from OceanServer) Hull diameter 14.7cm carbon fibre tube Length 140cm Weight in air 21kg Trim weight 1.2kg Maximum operating depth 100m Energy 600Whr Li-battery system Endurance 14hours Propulsion Direct drive DC brushless motor with Kort nozzle Control 4 independent fine control surfaces, yaw, pitch and active roll correction. Command 802.11n battery powered WiFi AP to move missions to the vehicle. Navigation Dead Reckoning basic, optional integrated DVL for active navigation. Patented underwater GPS option. Accuracy to 0.5% distance travelled. Integrated sensors Depth (pressure), altimeter (acoustic), 3 axis digital compass, leak detectors Optional sensors DVL 4, 6 and 10 beam options, Iridium modem and more. Imagenex YellowFin side scan sonar, multibeam sonar, L3 Klein dual frequency UUV-3500 side scan sonar, Neil Brown CTD probe, Iridium modem.
119 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
YSI Integrated Systems and Services Website: www.ysisystems.com
Contact: [email protected]
YSI primary supply marine monitoring equipment, floats, buoys and sensors for marine observations. The data collected contributes to missions recording environmental conditions to reporting on flood risk.
Autonomous Underwater Vehicles (AUVs) at YSI YSI have developed, with OceanServer, an AUV specifically aimed at monitoring water quality, water currents and bathymetry. This AUV is called EcoMapper.
EcoMapper Website: www.ysisystems.com/systemsdetail.php?EcoMapper-1
Key applications include: baseline monitoring, source water mapping, event response, bottom mapping, point source mapping and oceanographic research.
Technical Specification for Iver2-580-S (from YSI/OceanServer) Hull diameter 14.7cm carbon fibre tube Length 152cm, 161cm with DVL Weight in air 20.5kg Trim weight 1.2kg Maximum operating depth 100m Energy 600-800Whr Li-battery system Endurance 8-12hours at 2.5kt Propulsion 3-blade propeller Control 4 independent fine control surfaces, yaw, pitch and active roll correction. Command 2.4GHz radio link Navigation GPS at surface and bottom tracking with DVL or dead reckoning with compass Integrated sensors CTD, salinity, blue-green algae, chlorophyll, dissolved oxygen, ORP, pH and turbidity, side scan, 6-beam and/or 10-beam DVL for navigation, bathymetry and current profiling.
120 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
C&C Technologies Survey Services Website: www.cctechnol.com/site368
Contact: Scott Croft (VP) or Charlie Spann (Asst Manager) ([email protected])
C&C Technologies are a marine surveying company based in Lafayette, LA. C&C pioneered the world’s first commercially operated autonomous underwater vehicles for oil and gas exploration. The company is a leader is deepwater AUV operations.
Autonomous Underwater Vehicles (AUVs) at C&C C&C have a fleet of AUVs.
C-Surveyor II Website: www.cctechnol.com/site325
Technical Specification for C-Surveyor II (from C&C) Length 6.2m Weight 1,400kg Speed 1.5-2.0m/s Maximum operating depth 3000m Energy Aluminium oxygen fuel cell Endurance 50hours Propulsion ? Control ? Command ? Navigation ? Integrated sensors • EdgeTech Full Spectrum Chirp Sub-bottom profiler (1-6kHz with 8 element receiver) • EdgeTech Full Spectrum Chirp side scan sonar Additional Installed sensors • C-Surveyor proprietary camera system • Kongsberg Simrad EM2000 multibeam bathymetry system – 111 beams • SeaBird Electronics SBE49 FastCAT with Digiquartz Depth Sensor • Payload – UltraSparc 650 mHz cPCI with 1 gigabyte ram • Kongsberg Simrad HiPAP Ultra Short Base Line (USBL) Acoustic Positioning System • Link Quest Acoustic Data Modem • IMU90 Motion Reference Unit
121 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
C-Surveyor III Website: www.cctechnol.com/site326
Technical Specification for C-Surveyor III (from C&C) Length 6.4m Maximum operating 4500m depth Weight 1,500kg Speed 1.5-2.0m/s Energy Aluminium oxygen fuel cell Endurance 50hours Propulsion ? Control ? Command ? Navigation ? Integrated sensors • Chirp Dynamically Focused (230kHz) or Std 410 (kHz) with 7m resolution side scan sonar • EdgeTech Full Spectrum Chirp Sub-bottom profiler (1-6kHz with 8 element receiver) Additional Installed • C-Surveyor proprietary camera system sensors • Kongsberg Simrad EM2000 multibeam bathymetry system – 111 beams • SeaBird Electronics SBE49 FastCAT with Digiquartz Depth Sensor • Payload – UltraSparc 650 mHz cPCI with 1 gigabyte ram • RDI Navigator DVL – WHN300 (300kHz) • Kongsberg Simrad HiPAP Ultra Short Base Line (USBL) Acoustic Positioning System • Link Quest Acoustic Data Modem • IMU90 Motion Reference Unit
122 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
C-Surveyor IV Website: www.cctechnol.com/site327
Technical Specification for C-Surveyor IV (from C&C) Length 4.57m Maximum operating 3000m depth Weight 1,400kg Speed 1.5-2.0m/s Energy Li-rechargeable batteries Endurance ? Propulsion ? Control ? Command ? Navigation ? Integrated sensors • EdgeTech 220 side scan sonar and sub-bottom profiler with Kongsberg EM2000 • Kongsberg HISAS Synthetic Aperture Sonar with Kongsberg EM 3002 Multibeam
C-Surveyor V Website: www.cctechnol.com/site324
Technical Specification for C-Surveyor III (from C&C) Length 6.2m Maximum operating 3000m depth Weight 1,500kg Speed 1.54m/s scavenge Energy Aluminium oxygen fuel cell Endurance ? Navigation ? Integrated sensors • Chirp Dynamically Focused (230kHz or Std 410 kHz) with 7m resolution side scan sonar • EdgeTech Full Spectrum Chirp Sub-bottom profiler (1-6kHz with 8 element receiver) Additional Installed • C-Surveyor proprietary camera system sensors • Kongsberg Simrad EM2000 multibeam bathymetry system – 111 beams • SeaBird Electronics SBE49 FastCAT with Digiquartz Depth Sensor • Payload – UltraSparc 650 mHz cPCI with 1Gb ram • RDI Navigator DVL – WHN300 (300kHz) • Kongsberg Simrad HiPAP Ultra Short Base Line (USBL) Acoustic Positioning System • Link Quest Acoustic Data Modem • IMU90 Motion Reference Unit
123 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Semi-submersible Unmanned Survey and Surveillance Vehicles at C&C C&C have developed semi-submersible technology that offers a robust sensor platform for application within commercial hydrographic surveys, advanced marine academic research and military operations.
ASV 6300 Hydrographic Survey Vehicle Website: www.cctechnol.com/site336
Technical Specification for ASV 6300 Hydrographic Survey Vehicle (from C&C) Length ? Maximum operating Shallow Water depth Energy ? Speed 8kts with 4kt survey speed Payload capacity 300kg Endurance 100hrs Control ? Command ? Navigation ? Integrated sensors • Hull mounted or twoed side scan sonars, multi-beam echo sounders and others Additional Installed • C-Surveyor proprietary camera system sensors • Kongsberg Simrad EM2000 multibeam bathymetry system – 111 beams • SeaBird Electronics SBE49 FastCAT with Digiquartz Depth Sensor • Payload – UltraSparc 650 mHz cPCI with 1 gigabyte ram • Kongsberg Simrad HiPAP Ultra Short Base Line (USBL) Acoustic Positioning System • Link Quest Acoustic Data Modem • IMU90 Motion Reference Unit
124 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Fugro Survey Website: www.fugrosurvey.co.uk/auv
Fugro conduct seafloor mapping for the oil and gas industry and renewable sectors.
Autonomous Underwater Vehicles (AUVs) at Fugro Fugro have a fleet of AUVs. The most recent addition of which includes Surveyor IV.
Echo Mapper II Echo Mapper II is based on the Bluefin-21 vehicle and is operated by Furgo Seafloor Surveys out of Seattle. It is able to operate in deep water (4,500m) and is equipped with multibeam echo sounder, side scan sonar, and sub-bottom profiler.
Length 4.1m Weight (in air) 525kg Diameter 53cm Depth rating 4500m Speed 1.5m/s Energy Lithium polymer 45kWh Endurance 25hrs Propulsion Navigation Communication Control sensors Payload Sensors • Multibeam echo sounder • Side scan sonar • Sub-bottom profiler • RESON A/S SeaBat 7125 sonar
125 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Echo Surveyor I Echo Surveyor I is based on the HUGIN 3000, capable of accuratelymeasuring the seafloor to depths of 3000m.
Technical Specification for Echo Surveyor I (from Kongsberg) Length 5.4m Weight (in air) 1450kg Diameter 1m Depth rating 3000m Speed 1.5-2kts Energy Semi-fuel cell battery Endurance 60-70hrs Propulsion Smart motor, rudders and propeller Navigation INS Communication • ACL transducers (TP324 and TP331), Kongsberg 24- 28kHz command link. Surface communication Iridium datalink and radio. Control sensors • CTD Falmouth FSI 2 Micro CTD • Mesotech Avoidance Sonar • Mesotech Altimeter Payload Sensors • Sidescan sonar • Sub-bottom profiler • CTD probe
126 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Echo Surveyor II Echo Surveyor II is based on the HUGIN 3000 from Kongsberg
Technical Specification for Echo Surveyor II (from Kongsberg) Length 5.4m Weight (in air) 1450kg Diameter 1m Depth rating 3000m Speed 1-4kts Energy Endurance 60hrs Propulsion Navigation HiPAP 501 SSBL aided inertial navigation system, Honeywell 9900 inertial measurement unit (IMU), Paroscientific digiquartz depth pressure sensor, RDI Workhorse navigation WHN-300, and ADCP Communication • ACL transducers (TP324 and TP331), Kongsberg 24- 28kHz command link. Surface communication Iridium datalink and radio. Control sensors • CTD Falmouth FSI 2 Micro CTD • Mesotech Avoidance Sonar • Mesotech Altimeter Payload Sensors • Multibeam Echo Sounder • Side Scan Sonar • Digital Stills Camera
127 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Echo Surveyor IV Echo Surveyor IV is the latest generation of Kongsberg Maritime Hugin 1000 depth rated to 3000m. The modular design enables payloads to be specifically chosen to meet the demands of Fugro. Echo Surveyor IV is equipped with a sub-bottom profiler, LED illuminated digital camera, EM 2040 multibeam echosounder and collision avoidance system.
Length 7.3m Weight (in air) 1860kg Diameter 0.75m Depth rating 3000m Speed 2-6kts (nominal 3.6kt) Energy Lithium polymer 45kWh Endurance 50hrs Propulsion Smart motor, rudders and propeller Navigation HiPAP 501 SSBL aided inertial navigation system, Honeywell 9900 inertial measurement unit (IMU), Paroscientific digiquartz depth pressure sensor, RDI Workhorse navigation WHN-300, and ADCP Communication • ACL transducers (TP324 and TP331), Kongsberg 24- 28kHz command link. Surface communication Iridium datalink and radio. Control sensors • CTD Falmouth FSI 2 Micro CTD • Mesotech Avoidance Sonar • Mesotech Altimeter Payload Sensors • Multibeam Echo Sounder (Kongsberg EM2040 200- 400kHz with 140 degree coverage) • Side Scan Sonar (EdgeTech Full Spectrum Sidescan Sonar, simultaneous frequency 120 and 140kHz) • Sub-bottom Profiler (DW106 1-6kHz or DW216 2- 16kHz) • Digital Stills Camera (Kongsberg LED illuminated digital stills camera)
128 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Natural Resources Canada Website:www.nrcan.gc.ca/earth-sciences/geography- boundary/boundary/continental-shelf/autonomous-underwater-vehicles
Natural Resources Canada undertakes numerous projects mapping both onshore and offshore territories.
Autonomous Underwater Vehicles (AUVs) at Natural Resources Canada NRCan purchased two Explorer-class vehicles from ISE in 2010. They were layer deployed in 2010 to collect bathymetric data 320km offshore Borden Island. The two vehicles are named Yamoria and Qaujisati.
129 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Exocetus Development LLC Exocetus took over the licensing to develop and produce the ANT LLC littoral glider.
Gliders at Exocetus As well as a basic Exocetus platform there are additional gliders that form part of a fleet.
Exocetus Glider The large size of the buoyancy chamber enables control across variable water depths. The design of the vehicle also allows manoeuvrability in higher current velocities.
Technical Specification for the Exocetus Coastal Glider Length 2m Weight (in air) 120kg Diameter 32cm Depth rating 200m Energy Single battery alkaline primary and lithium-ion prototype Speed 1m/s Endurance 30days Communications Iridium satellite, ARGOS and WiFi Navigation Sensors SeaBird CTD Notes Self righting (yes) but no obstacle avoidance
The Hypoxia glider is fitted with CTD, DO2 and water quality sensors.
The Wind Assessment glider is set with Wilcoxon hydrophones.
Radiation Monitoring glider is fitted with a LND gamma ray Cesium-137 sensor.
130 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Mote Marine Laboratory Website: www.mote.org
Mote are a private research facility based in Sarasota, Florida.
Gliders at Mote Currently there is a Slocum glider in operation.
Waldo Slocum Glider Waldo is used for water column monitoring on the Florida coast by Mote.
Technical Specification for Waldo (Mote) Length 178m Weight 52kg Diameter 0.49m Depth rating 1000m Energy Speed Endurance 720hrs Communications Navigation Sensors Mote BreveBuster red tide sensors Fluorometer
131 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Phoenix International Website: www.phnx-international.com/robotics-auv
Phoenix International is a marine services company dedicated to safely conducting complex manned and unmanned underwater operations. They offer services to government and commercial operators.
AUVs at Phoenix International Currently there is only a Bluefin 21-class AUV in operation
Phoenix 21 Bluefin 21 AUV This Bluefin 21 configurated AUV is used for multiple operations, including seabed mapping, search and recovery, cable route survey, oil and gas survey and oceanographic survey.
Technical Specification for Phoenix 21 (from Bluefin Robotics) Length 5.26m Weight 725kg Diameter 53cm Depth rating 4500m Energy Speed 1.5m/s Endurance 20hours Communications • Acoustic modem (Benthos ATM 885 MR remote) • RDF Beacon Bluefin • RF Serial Link Freeware FGRMT • Iridium satellite modem NAL 9601 D1 • Ethernet Direct Cirexx CPU1232 Navigation • INS (Kearfott Custom KN-6053) • ADCP Doppler Velocity Log • Teledyne RDI Workhorse Navigator 300kHz • Acoustic Positioning System (SonardyneAvTrak) • Depth sensor (Parascientific 8CB4000-I) • GPS (Thales) • Sound Velocity sensor (Valeport Mini SVS) Sensors • Multibeam Echosounder (RESON 7125 400kHz) • Side scan sonar (EdgeTech DW2-16 2-16kHz) Notes
132 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Columbia Group Based in Washington DC, the Engineering Solutions Division of the Columbia Group develops and builds manned and unmanned undersea vehicles.
AUVs from the Columbia Group There is only one AUV currently in development/production from the Columbia Group.
Proteus AUV Proteus is manufactured and operated by the Columbia Group, however was developed initially by Bluefin Robotics. It was produced primarily for vehicle and sensor research, but is also being trialled for mine countermeasures with the US Navy.
Technical Specification for Proteus (from the Columbia Group) Length 7.32m Weight 3737kg Diameter 1.6m Depth rating 46m Energy Speed 2m/s Endurance 50hours Communications Navigation Sensors Notes Dynamic buoyancy (yes), self-right (yes) and obstacle avoidance (yes)
133 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Falmouth Scientific Inc. Website: www.falmouth.com
Falmouth Scientific are based in Cataumet, Massachusetts.
AUVs (USVs) from Falmouth Scientific Thus far Falmouth have developed a solar-powered AUV (SAUV) that operates at the surface or at depths of 500m. Two vehicles have been issued to AUV Associates (named SAUV II) and the University of South Florida (named TAVROS SAUV).
SAUV II The primary application for this instrument is environmental monitoring, marine science surveying, and vehicle research. However, as a surface vehicle it could work in tandem with other AUVs and gliders.
Technical Specification of SAUV II (from Falmouth Scientific) Length 2.3m Weight 200kg Diameter 1.1m Depth rating 500m Energy Solar with battery capacity of 2.4KWhrs Speed 0.5m/s Endurance 8hours Communications Satellite phone, RF radio and acoustic telemetry Navigation GPS Sensors Notes
134 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Liquid Robotics Website: www.liquidr.com
Liquid Robotics are based in Sunnyvale California and are the developers and providers of the Wave Glider, which is an unmanned surface vehicle (USV).
USVs from Liquid Robotics There are three models of unmanned surface vehicle from Liquid Robotics.
METOC Wave Glider Two Wave Glider solutions for Meteorology and Oceanography are available from Liquid Robotics. The base model (METOC Currents) collects weather observations, meteorology and ocean current data. The expanded model (METOC Plus) has additional wave and water sensors to measure waves (height, direction, period and spectrum), and water temperature, dissolved oxygen and salinity. Applications include satellite ground-truth measurements, buoy replacement, forecasting, disaster response and site surveying.
Technical Specification for METOC (from Liquid Robotics) Length 2m Weight 90-150kg Diameter 60cm Depth rating 2m Energy Lithium-ion rechargeable 665W and solar power Speed Endurance 8640hours Communications Iridium, cellular modem and short burst data Navigation Waypoint and chart-based GUI Sensors • 300 and 600KHz Teledyne ADCP • Aimair PB200 Weather Station • Datawell MOSE-G GPS • SeaBird GPCTD Notes
135 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
GATEWAY Wave Glider Designed for applications in control and monitoring of sub-sea equipment, extraction of data from subsea AUVs and providing telemetry for ROVs and AUVs.
Technical Specification for Gateway (from Liquid Robotics) Length 2m Weight 90-150kg Diameter 60cm Depth rating 2m Energy Lithium-ion rechargeable 665W and solar power Speed Withstands 0.4-2.0kts Endurance 8640hours Communications Iridium, cellular modem and short burst data Navigation Waypoint and chart-based GUI Sensors • Airmar PB200 Weather Station • Sonardyne 6G Acoustic Modem Notes
SHARC Wave Glider Designed for applications primarily involving Defence and Homeland Security, as well as sub-sea communications.
Technical Specification for SHARC (from Liquid Robotics) Length 2m Weight 90-150kg Diameter 60cm Depth rating 2m Energy Lithium-ion rechargeable 665W and solar power Speed Withstands 0.4-2.0kts Endurance 8640hours (or 1year) Communications Iridium and cellular modem (SBD and RUBICS) Navigation GPS Sensors Notes
136 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Lockhead Martin Website: www.lockheadmartin.co.uk
Lockhead Martin Mission Systems and Sensors are based out of Houston, Texas. The experience of Lockhead Martin in Defence Systems and in automated robotics has enabled them to develop a series of AUVs.
AUVs at Lockhead Martin The Marlin, in its various models, is the product of Lockhead Martin’s development.
Marlin Mk1 This was an initial design based for applications within surveillance and site monitoring.
Technical Specification for Marlin Mk1 (from Lockhead Martin) Length 1.5m Weight 23-68kg (450kg with payload) Diameter 80cm Depth rating 300m Energy Speed 0-8kts Endurance 4-16hrs Communications Acoustic modem, Ethernet, Iridium, WiFi, RF radio and fibre optic cable onshore Navigation Doppler Aided INS, GPS, Terrain based navigation and USBL Sensors FLS, SLS, SAS, CTD, optical cameras, multibeam sonar, ADCP, sub-bottom profiler and turbidity. Notes
137 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Marlin Mk2 This was designed for applications within surveillance and site monitoring, but with a deeper depth rating.
Technical Specification for Marlin Mk2 (from Lockhead Martin) Length 3m Weight 113kg (950kg with payload) Diameter 1.5m Depth rating 4000m Energy Speed 0-8kts Endurance 0-6hrs Communications Acoustic modem, Ethernet, Iridium, WiFi, RF radio and fibre optic cable onshore Navigation Doppler Aided INS, GPS, Terrain based navigation and USBL Sensors FLS, SLS, SAS, CTD, optical cameras, multibeam sonar, ADCP, sub-bottom profiler and turbidity.
Marlin Mk3 This was designed for applications within surveillance and site monitoring, but with a deeper depth rating and with a longer endurance.
Technical Specification for Marlin Mk1 (from Lockhead Martin) Length 3m Weight 113-454kg (1590kg with payload) Diameter 1.5m Depth rating 4000m Energy Speed 0-8kts Endurance 18-80hrs Communications Acoustic modem, Ethernet, Iridium, WiFi, RF radio and fibre optic cable onshore Navigation Doppler Aided INS, GPS, Terrain based navigation and USBL Sensors FLS, SLS, SAS, CTD, optical cameras, multibeam sonar, ADCP, sub-bottom profiler and turbidity.
138 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Marport Deep Sea Technologies Website: www.marport.com
Marport both design vehicles, which are primarily open-frame twin-hulled vehicles, and software to support operations.
AUVs at Marport There are two models in production, which are both twin-hulled and have an open- frame configuration. Both are capable of coastal water operations.
SQX-500 AUV This is a compact and light-weight AUV. It is capable of operating in shallow coastal waters to depths of 500m. It was funded by a joint project with the National Research Council of Canada’s Institute for Ocean Technology (NRC-IOT).
Technical Specification for SQX-500 (from Marport) Length 1.5m Weight 95kg Diameter 0.25x0.85m Depth rating 500m (possible extension to 1500-3000m) Energy 2.5kWh rechargeable lithium-ion batteries Speed 2-3m/s Endurance 8hours Communications Navigation Sensors
139 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Other Global Institutes
140 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Japan Agency for Marine-Earth Science and Technology (JAMSTEC) Website: www.jamstec.go.jp/maritec/e/
JAMSTEC was inaugurated as an independent administrative institution in 2004. Its main objective is to contribute to the advancement of academic research in the marine environment.
AUVs at JAMSTEC JAMSTEC have developed two models of AUV, named Urashima and Yumeiruka.
Urashima AUV Urashima was developed from 1998 by JAMSTEC. It can automatically collect oceanographic data, including salinity, temperature and dissolved oxygen. The vehicle is also able to cruise the seafloor analysing for high resolution topography and sub-bottom structure.
Technical Structure of Urashima (from JAMSTEC) Length 10m Weight 7257kg Diameter 1.3-1.5m Depth rating 3500m Energy Lithium-ion batteries Speed 1.5-2.0m/s Endurance 18hours Communications Navigation GPS and INS Sensors Sub-bottom profiler CTD and dissolved oxygen Side scan sonar High-sensitivity camera Multibeam echo sounder Notes Obstacle avoidance (yes) and self-righting (yes)
141 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Central Mechanical Engineering Research Institute (CMERI) Based in Durgapur, CMERI have an expertise in robotic systems and control engineering. They are actively involved in the Polymetallic Nodule Mining Program of the Department of Ocean Development, India.
AUVs at CMERI The singular AUV that has been developed is the AUV-150.
AUV-150 This is a cylindrical-shaped carrier with streamlined fairing to reduce hydrodynamic drag. It is primarily deployed on seabed mapping missions, but also has capabilities for intelligence gathering, surveillance and reconnaissance.
Technical Specification for AUV-150 Length 4.8m Weight 490kg Diameter 0.5m Depth rating 150m Energy Speed 2.1m/s Endurance Communications Navigation Sensors Notes
Muscle Bluefin 21 CMERI has a Bluefin 21 AUV in a configuration known as Muscle SAS. It is primarily used for vehicle research, hydro-acoustic research and scientific research.
Technical Specification for Muscle SAS Bluefin 21 (from Bluefin Robotics) Length 3.5m Weight Diameter 53cm Depth rating 4500m Energy Speed 1.5m/s Endurance 20hours Communications Navigation DVL and IMU as well as GPS Sensors SAS sensor from Thales Underwater Systems Notes
142 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Commonwealth Scientific and Industrial Research Organisation (CSIRO) Website: www.csiro.au.org/CMAR
CSIRO Marine and Atmospheric Research (CMAR) comprises Australia’s leading climate change modelling research teams. Research is towards climate, marine and earth systems science.
AUVs at CSIRO There is one platform in production, with an emphasis on affordability.
Starbug AUV The focus of development of this AUV was cost, and Starbug costs around AUS$10,000. Its relatively small size enables it to be deployed from small boats and jetties. The vehicle design is a compromise between endurance, manoeuvrability and functionality. The primarily application of Starbug is towards beach, marine and oceanographic surveying.
Technical Specification for Starbug (from CSIRO) Length 1.2m Weight 26kg Diameter 0.45x0.15m Depth rating 100m Energy 4x12V sealed lead batteries Speed 0.7m/s with hover capability Endurance 4hours Communications Navigation GPS, magnetic compass and pressure depth sensor Sensors Cameras, water quality monitoring and plume monitoring Notes
143 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Escola Politecnica da Universidade de Sao Paulo Website: www.poli.usp.br
A university department based in Sao Paulo, Brazil.
AUVs at Escola Politecnica da Universidade de Sao Paulo One AUV is currently in development.
AUV Pirajuba The 1.78m length and 24cm diameter is a specification used by Maya and Remus vehicle models and is a geometry that can be used for investigating aircraft fuseleages. The use here is more environmental monitoring and vehicle research.
Technical Specification for Pirajuba AUV Length 1.78m Weight Diameter 23cm Depth rating Energy Speed 1m/s Endurance 4hours Communications Navigation Sensors Notes
144 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
CSIR Natural Resources and the Environment The Council for Scientific and Industrial Research (CSIR) is one of the leading research institutes in Africa. It has a goal to improve national competitiveness in a global economy. CSIR’s shareholders are the South African Parliament.
Gliders at CSIR CSIR has purchased and deployed (now retrieved) two Seagliders 574 and 573 (named Brain and Vader). This was part of the initial data gathering for the Southern Ocean Seasonal Cycle Experiment (SOSCEx).
145 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Other Global Commercial Companies
146 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Daewoo Shipbuilding and Marine Engineering Co. (DSME E&R) Website: www.dsmeu.en.ec21.com
DSME E&R are a subsidiary of Daewoo Shipbuilding and Marine Engineering Group. They have experience in underwater vehicles and instruments, such as AUV, side scan sonar, sonar boat and underwater multi-directional cameras. DSME E&R is the only company in Korea to not only provide the instrumentation but also the vehicle.
AUVs from DSME E&R Daewoo provide a range of AUVs suited for marine and freshwater work.
OKPO 300 AUV This vehicle is a hybrid underwater vehicle since it has both AUV and ROV capabilities. It has applications to geological surveying, environmental inspection of lakes, rivers and sea, mine detection with acoustic sonar, harbour defence and monitoring underwater structures.
Technical Specification for OKPO 300 Length 183cm Weight 55kg Diameter 26cm Depth rating 300m Energy 48V DC Speed 3m/s Endurance 10hours Communications Navigation Sensors Notes
147 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
OKPO 600 AUV
Technical Specification for OKPO 600 Length 260cm Weight 55kg Diameter 28x46cm Depth rating 600m Energy 48V DC Speed 1.5-3.0m/s Endurance Communications Navigation Sensors Notes
OKPO 6000 AUV This vehicle is a hybrid underwater vehicle since it has both AUV and ROV capabilities. It has applications to geophysical, oceanographic, mineral and marine surveying.
Technical Specification for OKPO 6000 Length 3.80m Weight 950kg Diameter 0.7m Depth rating 6000m Energy 48V DC Speed 1.5m/s Endurance 10hours Communications Navigation Sensors Notes
148 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Geodetic Offshore Services Ltd Website: www.goslng.com
Geodetic are an offshore services company based in Lagos, Nigeria. They perform site surveys for the hydrocarbon, mineral and telecommunications companies.
AUVs at Geodetic Currently Geodetic only has a SQX-500 model AUV from Marport.
Technical Specification for GOSL SQX-1 (from Marport) Length 1.6m Weight 95kg Diameter 0.25x0.85m Depth rating 3000m Energy 2.5kWh rechargeable lithium-ion batteries Speed 2-3m/s Endurance 8hours Communications Navigation Sensors • Klein 3000 side scan sonar • Marport sub-bottom profiler • Marport command view auto-track module • Seebyte Pipeline AutoTracker • Methane Sniffer
149 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Mitsui Engineering and Shipbuilding (MES) Website: www.mes.co.jp/english/mes_technology/factory
Based out of Tokyo, MES are developing and producing a wide variety of AUVs primarily for commercial use.
AUVs at MES There are three models of AUV currently in production at MES. Two are designed for commercial use, while a smaller third vehicle is designed for research.
R-One AUV R-One is the predecessor to the r2D4 model, and is now no longer in production.
Technical Specification for R-One (MES) Length 8.3m Weight 4700kg Diameter 1.15m Depth rating 400m Energy CCDE Speed 3kts Endurance Communications Navigation INS and DVL Sensors ?
150 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
R2D4 AUV R2D4 is the successor to the R-One model. It is equipped with more sensors, is easier to transport and has a deeper operating depth. It was designed by the University of Tokyo Institute of Industrial Science, built by MES and is in operation by the University.
Technical Specification for R2D4 (MES) Length 4.4m Weight 1600kg Diameter 1.1m Depth rating 4000m Energy Li-ion batteries Speed 3kts Endurance Communications Navigation INS and DVL and fog radar Sensors • Side scan sonar • Video cameras • Interferometry sonar • 3-axes magnetometer • Manganese-ion densitometer • pH sensor • Thermal flow meter • Turbidimeter • Oxygen densitometer
Aqua Explorer 2000 AUV Aqua Explorer 2000 is primarily used for mapping the seabed in preparation for cable laying. It is commonly operated by the Kokusai Cable Ship Company.
Technical Specification for Aqua Explorer (MES) Length 3m Weight 300kg Diameter 1.3m Depth rating 2,000m Energy Speed ? Endurance Communications Navigation Sensors ?
151 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Tantan AUV Tantan is another AUV designed by the University of Tokyo. The primary operation is within research.
Technical Specification for Tantan (MES) Length 2m Weight 180kg Diameter 75cm Depth rating 150m Energy Speed 1m/s Endurance 12hrs Communications Navigation GPS Sensors • Acoustic Doppler Current Profiler (1200kHz) • SONY digital video cameras • Echo sounders • Obstacle avoidance • CTD
152 Return to Contents Appendix 1. Global Inventory of AUVs and Gliders
Offshore Works GeoSurvey Offshore Works GeoSurvey (OGS) is based in Kuala Lumpar. They provide geophysical and geotechnical survey data.
AUVs at OGS Offshore Works GeoSurvey possesses a HUGIN 1000 AUV used for geophysical surveying.
HUGIN 1000 at OGS This HUGIN 1000 has a depth rating of 3000m.
Technical Specification of OGS HUGIN 1000 (from Kongsberg) Length 4.9m Weight (in air) 775kg Diameter 0.75m Depth rating 3000m Speed 1.5-3.0kt Energy Endurance 29hrs Propulsion Navigation Communication Control sensors Payload Sensors • Multibeam echo sounder • Sub-bottom profiler • Side scan sonar • CTD profilers • Camera
153 Return to Contents